Abstract out GLFW calls from Simulate.

PiperOrigin-RevId: 500129478 Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328
2023-01-06 02:36:01 -08:00
parent 048bd43724
commit e40775fab3
15 changed files with 847 additions and 624 deletions
@@ -0,0 +1,66 @@
+// Copyright 2023 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SIMULATE_GLFW_ADAPTER_H_
+#define MUJOCO_SIMULATE_GLFW_ADAPTER_H_
+
+#include <utility>
+
+#include <GLFW/glfw3.h>
+#include <mujoco/mujoco.h>
+#include "platform_ui_adapter.h"
+
+namespace mujoco {
+class GlfwAdapter : public PlatformUIAdapter {
+ public:
+  GlfwAdapter();
+  ~GlfwAdapter() override;
+
+  std::pair<double, double> GetCursorPosition() const override;
+  double GetDisplayPixelsPerInch() const override;
+  std::pair<int, int> GetFramebufferSize() const override;
+  std::pair<int, int> GetWindowSize() const override;
+  void PollEvents() override;
+  void SetClipboardString(const char* text) override;
+  void SetVSync(bool enabled) override;
+  void SetWindowTitle(const char* title) override;
+  bool ShouldCloseWindow() const override;
+  void SwapBuffers() override;
+  void ToggleFullscreen() override;
+
+  bool IsLeftMouseButtonPressed() const override;
+  bool IsMiddleMouseButtonPressed() const override;
+  bool IsRightMouseButtonPressed() const override;
+
+  bool IsAltKeyPressed() const override;
+  bool IsCtrlKeyPressed() const override;
+  bool IsShiftKeyPressed() const override;
+
+  bool IsMouseButtonDownEvent(int act) const override;
+  bool IsKeyDownEvent(int act) const override;
+
+  int TranslateKeyCode(int key) const override;
+  mjtButton TranslateMouseButton(int button) const override;
+
+ private:
+  GLFWvidmode vidmode_;
+  GLFWwindow* window_;
+
+  // store last window information when going to full screen
+  std::pair<int, int> window_pos_;
+  std::pair<int, int> window_size_;
+};
+}  // namespace mujoco
+
+#endif  // MUJOCO_SIMULATE_GLFW_ADAPTER_H_