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 +1,96 @@
+// 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_PLATFORM_UI_ADAPTER_H_
+#define MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
+
+#include <utility>
+
+#include <mujoco/mujoco.h>
+
+namespace mujoco {
+class PlatformUIAdapter {
+ public:
+  virtual ~PlatformUIAdapter();
+
+  inline mjuiState& state() { return state_; }
+  inline const mjuiState& state() const { return state_; }
+
+  inline mjrContext& mjr_context() { return con_; }
+  inline const mjrContext& mjr_context() const { return con_; }
+
+  inline void SetEventCallback(void (*event_callback)(mjuiState*)) {
+    event_callback_ = event_callback;
+  }
+
+  inline void SetLayoutCallback(void (*layout_callback)(mjuiState*)) {
+    layout_callback_ = layout_callback;
+  }
+
+  // Optionally overrideable function to (re)create an mjrContext for an mjModel
+  virtual bool RefreshMjrContext(const mjModel* m, int fontscale);
+
+  // Pure virtual functions to be implemented by individual adapters
+  virtual std::pair<double, double> GetCursorPosition() const = 0;
+  virtual double GetDisplayPixelsPerInch() const = 0;
+  virtual std::pair<int, int> GetFramebufferSize() const = 0;
+  virtual std::pair<int, int> GetWindowSize() const = 0;
+  virtual void PollEvents() = 0;
+  virtual void SetClipboardString(const char* text) = 0;
+  virtual void SetVSync(bool enabled) = 0;
+  virtual void SetWindowTitle(const char* title) = 0;
+  virtual bool ShouldCloseWindow() const = 0;
+  virtual void SwapBuffers() = 0;
+  virtual void ToggleFullscreen() = 0;
+
+  virtual bool IsLeftMouseButtonPressed() const = 0;
+  virtual bool IsMiddleMouseButtonPressed() const = 0;
+  virtual bool IsRightMouseButtonPressed() const = 0;
+
+  virtual bool IsAltKeyPressed() const = 0;
+  virtual bool IsCtrlKeyPressed() const = 0;
+  virtual bool IsShiftKeyPressed() const = 0;
+
+  virtual bool IsMouseButtonDownEvent(int act) const = 0;
+  virtual bool IsKeyDownEvent(int act) const = 0;
+
+  virtual int TranslateKeyCode(int key) const = 0;
+  virtual mjtButton TranslateMouseButton(int button) const = 0;
+
+ protected:
+  PlatformUIAdapter();
+
+  // Event handlers
+  void OnFilesDrop(int count, const char** paths);
+  void OnKey(int key, int scancode, int act);
+  void OnMouseButton(int button, int act);
+  void OnMouseMove(double x, double y);
+  void OnScroll(double xoffset, double yoffset);
+  void OnWindowRefresh();
+  void OnWindowResize(int width, int height);
+
+  mjuiState state_;
+  void (*event_callback_)(mjuiState*);
+  void (*layout_callback_)(mjuiState*);
+
+  mjrContext con_;
+  const mjModel* last_model_ = nullptr;
+  int last_fontscale_ = -1;
+
+ private:
+  void UpdateMjuiState();
+};
+}  // namespace mujoco
+
+#endif  // MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_