Abstract out GLFW calls from Simulate.

PiperOrigin-RevId: 500129478
Change-Id: I7ba998e20439575ad9a3fe1a866c3db4c36b9328

doc/includes/references.h

@@ -1318,7 +1318,9 @@ typedef enum mjtEvent_ {          // mouse and keyboard event type
   mjEVENT_RELEASE,                // mouse button release
   mjEVENT_SCROLL,                 // scroll
   mjEVENT_KEY,                    // key press
-  mjEVENT_RESIZE                  // resize
+  mjEVENT_RESIZE,                 // resize
+  mjEVENT_REDRAW,                 // redraw
+  mjEVENT_FILESDROP               // files drop
 } mjtEvent;
 typedef enum mjtItem_ {           // UI item type
   mjITEM_END = -2,                // end of definition list (not an item)
@@ -1377,6 +1379,10 @@ struct mjuiState_ {               // mouse and keyboard state
   int mouserect;                  // which rectangle contains mouse
   int dragrect;                   // which rectangle is dragged with mouse
   int dragbutton;                 // which button started drag (mjtButton)
+
+  // files dropping (only valid when type == mjEVENT_FILESDROP)
+  int dropcount;                  // number of files dropped
+  const char** droppaths;         // paths to files dropped
 };
 typedef struct mjuiState_ mjuiState;
 struct mjuiThemeSpacing_ {        // UI visualization theme spacing

include/mujoco/mjui.h

@@ -74,7 +74,9 @@ typedef enum mjtEvent_ {          // mouse and keyboard event type
   mjEVENT_RELEASE,                // mouse button release
   mjEVENT_SCROLL,                 // scroll
   mjEVENT_KEY,                    // key press
-  mjEVENT_RESIZE                  // resize
+  mjEVENT_RESIZE,                 // resize
+  mjEVENT_REDRAW,                 // redraw
+  mjEVENT_FILESDROP               // files drop
 } mjtEvent;
 
 
@@ -143,6 +145,10 @@ struct mjuiState_ {               // mouse and keyboard state
   int mouserect;                  // which rectangle contains mouse
   int dragrect;                   // which rectangle is dragged with mouse
   int dragbutton;                 // which button started drag (mjtButton)
+
+  // files dropping (only valid when type == mjEVENT_FILESDROP)
+  int dropcount;                  // number of files dropped
+  const char** droppaths;         // paths to files dropped
 };
 typedef struct mjuiState_ mjuiState;
 

introspect/enums.py

@@ -627,6 +627,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjEVENT_SCROLL', 4),
              ('mjEVENT_KEY', 5),
              ('mjEVENT_RESIZE', 6),
+             ('mjEVENT_REDRAW', 7),
+             ('mjEVENT_FILESDROP', 8),
          ]),
      )),
     ('mjtItem',

python/mujoco/simulate.cc

@@ -14,8 +14,11 @@
 
 #include <cstdint>
 #include <cstring>
+#include <memory>
 #include <string>
 
+#include <glfw_adapter.h>
+#include <glfw_dispatch.h>
 #include <simulate.h>
 #include "structs.h"
 #include <pybind11/pybind11.h>
@@ -38,7 +41,10 @@ PYBIND11_MODULE(_simulate, pymodule) {
           py::call_guard<py::gil_scoped_release>());
 
   py::class_<mujoco::Simulate>(pymodule, "Simulate")
-      .def(py::init<>())
+      .def(py::init([]() {
+        return std::make_unique<mujoco::Simulate>(
+            std::make_unique<mujoco::GlfwAdapter>());
+      }))
       .def(
           "renderloop",
           [](mujoco::Simulate& simulate) { simulate.renderloop(); },
@@ -134,7 +140,7 @@ PYBIND11_MODULE(_simulate, pymodule) {
           });
 
   pymodule.def("setglfwdlhandle", [](std::uintptr_t dlhandle) {
-    mujoco::setglfwdlhandle(reinterpret_cast<void*>(dlhandle));
+    mujoco::Glfw(reinterpret_cast<void*>(dlhandle));
   });
 }
 

simulate/CMakeLists.txt

@@ -101,24 +101,42 @@ if(NOT TARGET lodepng)
 endif()
 
 # Simulate library
-add_library(libsimulate STATIC)
+add_library(platform_ui_adapter OBJECT)
+target_sources(
+  platform_ui_adapter
+  PUBLIC glfw_adapter.h
+         glfw_dispatch.h
+         platform_ui_adapter.h
+  PRIVATE glfw_adapter.cc
+          glfw_dispatch.cc
+          platform_ui_adapter.cc
+)
+target_compile_options(platform_ui_adapter PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
+target_include_directories(
+  platform_ui_adapter
+  PUBLIC
+  ${CMAKE_CURRENT_SOURCE_DIR}
+  $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>
+)
+target_link_libraries(platform_ui_adapter PUBLIC mujoco::mujoco)
+if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
+  target_compile_definitions(platform_ui_adapter PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
+endif()
+add_library(mujoco::platform_ui_adapter ALIAS platform_ui_adapter)
+
+add_library(libsimulate STATIC $<TARGET_OBJECTS:platform_ui_adapter>)
+set_target_properties(libsimulate PROPERTIES OUTPUT_NAME simulate)
 add_library(mujoco::libsimulate ALIAS libsimulate)
 
 target_sources(
   libsimulate
   PUBLIC simulate.h
-         array_safety.h
+  PRIVATE simulate.cc
-         glfw_dispatch.h
+          array_safety.h
-         glfw_dispatch.cc
-         simulate.cc
-         uitools.h
-         uitools.cc
 )
 target_include_directories(libsimulate PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-target_compile_definitions(libsimulate PUBLIC MJSIMULATE_STATIC)
 target_compile_options(libsimulate PUBLIC ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
-target_link_libraries(libsimulate PUBLIC lodepng mujoco::mujoco)
+target_link_libraries(libsimulate PUBLIC lodepng mujoco::platform_ui_adapter mujoco::mujoco)
-target_include_directories(libsimulate PUBLIC $<TARGET_PROPERTY:glfw,INTERFACE_INCLUDE_DIRECTORIES>)
 target_link_options(libsimulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
 
 if(APPLE)
@@ -126,10 +144,6 @@ if(APPLE)
   target_link_libraries(libsimulate PUBLIC "-framework Cocoa")
 endif()
 
-if(SIMULATE_GLFW_DYNAMIC_SYMBOLS)
-  target_compile_definitions(libsimulate PUBLIC mjGLFW_DYNAMIC_SYMBOLS)
-endif()
-
 # Build simulate executable
 if(SIMULATE_BUILD_EXECUTABLE)
   if(APPLE)

simulate/glfw_adapter.cc

@@ -0,0 +1,223 @@
+// 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.
+
+#include "glfw_adapter.h"
+
+#include <cstdlib>
+#include <utility>
+
+#include <GLFW/glfw3.h>
+#include <mujoco/mjui.h>
+#include <mujoco/mujoco.h>
+#include "glfw_dispatch.h"
+
+namespace mujoco {
+namespace {
+int MaybeGlfwInit() {
+  static const int is_initialized = []() {
+    auto success = Glfw().glfwInit();
+    if (success == GLFW_TRUE) {
+      std::atexit(Glfw().glfwTerminate);
+    }
+    return success;
+  }();
+  return is_initialized;
+}
+
+GlfwAdapter& GlfwAdapterFromWindow(GLFWwindow* window) {
+  return *static_cast<GlfwAdapter*>(Glfw().glfwGetWindowUserPointer(window));
+}
+}  // namespace
+
+GlfwAdapter::GlfwAdapter() {
+  if (MaybeGlfwInit() != GLFW_TRUE) {
+    mju_error("could not initialize GLFW");
+  }
+
+  // multisampling
+  Glfw().glfwWindowHint(GLFW_SAMPLES, 4);
+  Glfw().glfwWindowHint(GLFW_VISIBLE, 1);
+
+  // get video mode and save
+  vidmode_ = *Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
+
+  // create window
+  window_ = Glfw().glfwCreateWindow((2 * vidmode_.width) / 3,
+                                    (2 * vidmode_.height) / 3,
+                                    "MuJoCo", nullptr, nullptr);
+  if (!window_) {
+    mju_error("could not create window");
+  }
+
+  // save window position and size
+  Glfw().glfwGetWindowPos(window_, &window_pos_.first, &window_pos_.second);
+  Glfw().glfwGetWindowSize(window_, &window_size_.first, &window_size_.second);
+
+  // set callbacks
+  Glfw().glfwSetWindowUserPointer(window_, this);
+  Glfw().glfwSetDropCallback(
+      window_, +[](GLFWwindow* window, int count, const char** paths) {
+        GlfwAdapterFromWindow(window).OnFilesDrop(count, paths);
+      });
+  Glfw().glfwSetKeyCallback(
+      window_, +[](GLFWwindow* window, int key, int scancode, int act, int mods) {
+        GlfwAdapterFromWindow(window).OnKey(key, scancode, act);
+      });
+  Glfw().glfwSetMouseButtonCallback(
+      window_, +[](GLFWwindow* window, int button, int act, int mods) {
+        GlfwAdapterFromWindow(window).OnMouseButton(button, act);
+      });
+  Glfw().glfwSetCursorPosCallback(
+      window_, +[](GLFWwindow* window, double x, double y) {
+        GlfwAdapterFromWindow(window).OnMouseMove(x, y);
+      });
+  Glfw().glfwSetScrollCallback(
+      window_, +[](GLFWwindow* window, double xoffset, double yoffset) {
+        GlfwAdapterFromWindow(window).OnScroll(xoffset, yoffset);
+      });
+  Glfw().glfwSetWindowRefreshCallback(
+      window_, +[](GLFWwindow* window) {
+        GlfwAdapterFromWindow(window).OnWindowRefresh();
+      });
+  Glfw().glfwSetWindowSizeCallback(
+      window_, +[](GLFWwindow* window, int width, int height) {
+        GlfwAdapterFromWindow(window).OnWindowResize(width, height);
+      });
+
+  // make context current
+  Glfw().glfwMakeContextCurrent(window_);
+}
+
+GlfwAdapter::~GlfwAdapter() {
+  Glfw().glfwMakeContextCurrent(nullptr);
+  Glfw().glfwDestroyWindow(window_);
+}
+
+std::pair<double, double> GlfwAdapter::GetCursorPosition() const {
+  double x, y;
+  Glfw().glfwGetCursorPos(window_, &x, &y);
+  return {x, y};
+}
+
+double GlfwAdapter::GetDisplayPixelsPerInch() const {
+  int width_mm, height_mm;
+  Glfw().glfwGetMonitorPhysicalSize(
+      Glfw().glfwGetPrimaryMonitor(), &width_mm, &height_mm);
+  return 25.4 * vidmode_.width / width_mm;
+}
+
+std::pair<int, int> GlfwAdapter::GetFramebufferSize() const {
+  int width, height;
+  Glfw().glfwGetFramebufferSize(window_, &width, &height);
+  return {width, height};
+}
+
+std::pair<int, int> GlfwAdapter::GetWindowSize() const {
+  int width, height;
+  Glfw().glfwGetWindowSize(window_, &width, &height);
+  return {width, height};
+}
+
+void GlfwAdapter::PollEvents() {
+  Glfw().glfwPollEvents();
+}
+
+void GlfwAdapter::SetClipboardString(const char* text) {
+  Glfw().glfwSetClipboardString(window_, text);
+}
+
+void GlfwAdapter::SetVSync(bool enabled){
+  Glfw().glfwSwapInterval(enabled);
+}
+
+void GlfwAdapter::SetWindowTitle(const char* title) {
+  Glfw().glfwSetWindowTitle(window_, title);
+}
+
+bool GlfwAdapter::ShouldCloseWindow() const {
+  return Glfw().glfwWindowShouldClose(window_);
+}
+
+void GlfwAdapter::SwapBuffers() {
+  Glfw().glfwSwapBuffers(window_);
+}
+
+void GlfwAdapter::ToggleFullscreen() {
+  // currently full screen: switch to windowed
+  if (Glfw().glfwGetWindowMonitor(window_)) {
+    // restore window from saved data
+    Glfw().glfwSetWindowMonitor(window_, nullptr, window_pos_.first, window_pos_.second,
+                                window_size_.first, window_size_.second, 0);
+  }
+
+  // currently windowed: switch to full screen
+  else {
+    // save window data
+    Glfw().glfwGetWindowPos(window_, &window_pos_.first, &window_pos_.second);
+    Glfw().glfwGetWindowSize(window_, &window_size_.first,
+                             &window_size_.second);
+
+    // switch
+    Glfw().glfwSetWindowMonitor(window_, Glfw().glfwGetPrimaryMonitor(), 0,
+                                0, vidmode_.width, vidmode_.height,
+                                vidmode_.refreshRate);
+  }
+}
+
+bool GlfwAdapter::IsLeftMouseButtonPressed() const {
+  return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_LEFT) == GLFW_PRESS;
+}
+
+bool GlfwAdapter::IsMiddleMouseButtonPressed() const {
+  return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_MIDDLE) == GLFW_PRESS;
+}
+
+bool GlfwAdapter::IsRightMouseButtonPressed() const {
+  return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_RIGHT) == GLFW_PRESS;
+}
+
+bool GlfwAdapter::IsAltKeyPressed() const {
+  return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_ALT) == GLFW_PRESS ||
+         Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_ALT) == GLFW_PRESS;
+}
+
+bool GlfwAdapter::IsCtrlKeyPressed() const {
+  return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS ||
+         Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_CONTROL) == GLFW_PRESS;
+}
+
+bool GlfwAdapter::IsShiftKeyPressed() const {
+  return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS ||
+         Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_SHIFT) == GLFW_PRESS;
+}
+
+bool GlfwAdapter::IsMouseButtonDownEvent(int act) const {
+  return act == GLFW_PRESS;
+}
+
+bool GlfwAdapter::IsKeyDownEvent(int act) const { return act == GLFW_PRESS; }
+
+int GlfwAdapter::TranslateKeyCode(int key) const { return key; }
+
+mjtButton GlfwAdapter::TranslateMouseButton(int button) const {
+  if (button == GLFW_MOUSE_BUTTON_LEFT) {
+    return mjBUTTON_LEFT;
+  } else if (button == GLFW_MOUSE_BUTTON_RIGHT) {
+    return mjBUTTON_RIGHT;
+  } else if (button == GLFW_MOUSE_BUTTON_MIDDLE) {
+    return mjBUTTON_MIDDLE;
+  }
+  return mjBUTTON_NONE;
+}
+}  // namespace mujoco

simulate/glfw_adapter.h

@@ -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_

simulate/main.cc

@@ -26,7 +26,7 @@
 #include <vector>
 
 #include <mujoco/mujoco.h>
-#include "glfw_dispatch.h"
+#include "glfw_adapter.h"
 #include "simulate.h"
 #include "array_safety.h"
 
@@ -48,8 +48,6 @@ namespace {
 namespace mj = ::mujoco;
 namespace mju = ::mujoco::sample_util;
 
-using ::mujoco::Glfw;
-
 // constants
 const double syncMisalign = 0.1;        // maximum mis-alignment before re-sync (simulation seconds)
 const double simRefreshFraction = 0.7;  // fraction of refresh available for simulation
@@ -62,6 +60,7 @@ mjData* d = nullptr;
 // control noise variables
 mjtNum* ctrlnoise = nullptr;
 
+using Seconds = std::chrono::duration<double>;
 
 
 //---------------------------------------- plugin handling -----------------------------------------
@@ -254,7 +253,7 @@ mjModel* LoadModel(const char* file, mj::Simulate& sim) {
 // simulate in background thread (while rendering in main thread)
 void PhysicsLoop(mj::Simulate& sim) {
   // cpu-sim syncronization point
-  double syncCPU = 0;
+  std::chrono::time_point<mj::Simulate::Clock> syncCPU;
   mjtNum syncSim = 0;
 
   // run until asked to exit
@@ -321,10 +320,10 @@ void PhysicsLoop(mj::Simulate& sim) {
         // running
         if (sim.run) {
           // record cpu time at start of iteration
-          double startCPU = Glfw().glfwGetTime();
+          const auto startCPU = mj::Simulate::Clock::now();
 
           // elapsed CPU and simulation time since last sync
-          double elapsedCPU = startCPU - syncCPU;
+          const auto elapsedCPU = startCPU - syncCPU;
           double elapsedSim = d->time - syncSim;
 
           // inject noise
@@ -346,10 +345,12 @@ void PhysicsLoop(mj::Simulate& sim) {
           double slowdown = 100 / sim.percentRealTime[sim.realTimeIndex];
 
           // misalignment condition: distance from target sim time is bigger than syncmisalign
-          bool misaligned = mju_abs(elapsedCPU/slowdown - elapsedSim) > syncMisalign;
+          bool misaligned =
+              mju_abs(Seconds(elapsedCPU).count()/slowdown - elapsedSim) > syncMisalign;
 
           // out-of-sync (for any reason): reset sync times, step
-          if (elapsedSim < 0 || elapsedCPU < 0 || syncCPU == 0 || misaligned || sim.speedChanged) {
+          if (elapsedSim < 0 || elapsedCPU.count() < 0 || syncCPU.time_since_epoch().count() == 0 ||
+              misaligned || sim.speedChanged) {
             // re-sync
             syncCPU = startCPU;
             syncSim = d->time;
@@ -368,14 +369,16 @@ void PhysicsLoop(mj::Simulate& sim) {
           else {
             bool measured = false;
             mjtNum prevSim = d->time;
+
             double refreshTime = simRefreshFraction/sim.refreshRate;
 
             // step while sim lags behind cpu and within refreshTime
-            while ((d->time - syncSim)*slowdown < (Glfw().glfwGetTime()-syncCPU) &&
+            while (Seconds((d->time - syncSim)*slowdown) < mj::Simulate::Clock::now() - syncCPU &&
-                   (Glfw().glfwGetTime()-startCPU) < refreshTime) {
+                   mj::Simulate::Clock::now() - startCPU < Seconds(refreshTime)) {
               // measure slowdown before first step
               if (!measured && elapsedSim) {
-                sim.measuredSlowdown = elapsedCPU / elapsedSim;
+                sim.measuredSlowdown =
+                    std::chrono::duration<double>(elapsedCPU).count() / elapsedSim;
                 measured = true;
               }
 
@@ -466,12 +469,7 @@ int main(int argc, const char** argv) {
   scanPluginLibraries();
 
   // simulate object encapsulates the UI
-  auto sim = std::make_unique<mj::Simulate>();
+  mj::Simulate sim(std::make_unique<mj::GlfwAdapter>());
-
-  // init GLFW
-  if (!Glfw().glfwInit()) {
-    mju_error("could not initialize GLFW");
-  }
 
   const char* filename = nullptr;
   if (argc >  1) {
@@ -479,16 +477,11 @@ int main(int argc, const char** argv) {
   }
 
   // start physics thread
-  std::thread physicsthreadhandle = std::thread(&PhysicsThread, sim.get(), filename);
+  std::thread physicsthreadhandle = std::thread(&PhysicsThread, &sim, filename);
 
   // start simulation UI loop (blocking call)
-  sim->renderloop();
+  sim.renderloop();
   physicsthreadhandle.join();
 
-  // terminate GLFW (crashes with Linux NVidia drivers)
-#if defined(__APPLE__) || defined(_WIN32)
-  Glfw().glfwTerminate();
-#endif
-
   return 0;
 }

simulate/platform_ui_adapter.cc

@@ -0,0 +1,242 @@
+// 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.
+
+#include "platform_ui_adapter.h"
+
+#include <chrono>
+
+namespace mujoco {
+PlatformUIAdapter::PlatformUIAdapter() {
+  mjr_defaultContext(&con_);
+}
+
+PlatformUIAdapter::~PlatformUIAdapter() {
+  mjr_freeContext(&con_);
+}
+
+bool PlatformUIAdapter::RefreshMjrContext(const mjModel* m, int fontscale) {
+  if (m != last_model_ || fontscale != last_fontscale_) {
+    mjr_makeContext(m, &con_, fontscale);
+    last_model_ = m;
+    last_fontscale_ = fontscale;
+    return true;
+  }
+  return false;
+}
+
+void PlatformUIAdapter::OnFilesDrop(int count, const char** paths) {
+  state_.type = mjEVENT_FILESDROP;
+  state_.dropcount = count;
+  state_.droppaths = paths;
+
+  // application-specific processing
+  if (event_callback_) {
+    event_callback_(&state_);
+  }
+
+  // remove paths pointer from mjuiState since we don't own it
+  state_.dropcount = 0;
+  state_.droppaths = nullptr;
+}
+
+void PlatformUIAdapter::OnKey(int key, int scancode, int act) {
+  // translate API-specific key code
+  int mj_key = TranslateKeyCode(key);
+
+  // release: nothing to do
+  if (!IsKeyDownEvent(act)) {
+    return;
+  }
+
+  // update state
+  UpdateMjuiState();
+
+  // set key info
+  state_.type = mjEVENT_KEY;
+  state_.key = mj_key;
+  state_.keytime = std::chrono::duration<double>(
+      std::chrono::steady_clock::now().time_since_epoch()).count();
+
+  // application-specific processing
+  if (event_callback_) {
+    event_callback_(&state_);
+  }
+}
+
+void PlatformUIAdapter::OnMouseButton(int button, int act)  {
+  // translate API-specific mouse button code
+  mjtButton mj_button = TranslateMouseButton(button);
+
+  // update state
+  UpdateMjuiState();
+
+  // swap left and right if Alt
+  if (state_.alt) {
+    if (mj_button == mjBUTTON_LEFT) {
+      mj_button = mjBUTTON_RIGHT;
+    } else if (mj_button == mjBUTTON_RIGHT) {
+      mj_button = mjBUTTON_LEFT;
+    }
+  }
+
+  // press
+  if (IsMouseButtonDownEvent(act)) {
+    double now = std::chrono::duration<double>(
+        std::chrono::steady_clock::now().time_since_epoch()).count();
+
+    // detect doubleclick: 250 ms
+    if (mj_button == state_.button && now - state_.buttontime < 0.25) {
+      state_.doubleclick = 1;
+    } else {
+      state_.doubleclick = 0;
+    }
+
+    // set info
+    state_.type = mjEVENT_PRESS;
+    state_.button = mj_button;
+    state_.buttontime = now;
+
+    // start dragging
+    if (state_.mouserect) {
+      state_.dragbutton = state_.button;
+      state_.dragrect = state_.mouserect;
+    }
+  }
+
+  // release
+  else {
+    state_.type = mjEVENT_RELEASE;
+  }
+
+  // application-specific processing
+  if (event_callback_) {
+    event_callback_(&state_);
+  }
+
+  // stop dragging after application processing
+  if (state_.type == mjEVENT_RELEASE) {
+    state_.dragrect = 0;
+    state_.dragbutton = 0;
+  }
+}
+
+void PlatformUIAdapter::OnMouseMove(double x, double y) {
+  // no buttons down: nothing to do
+  if (!state_.left && !state_.right && !state_.middle) {
+    return;
+  }
+
+  // update state
+  UpdateMjuiState();
+
+  // set move info
+  state_.type = mjEVENT_MOVE;
+
+  // application-specific processing
+  if (event_callback_) {
+    event_callback_(&state_);
+  }
+}
+
+void PlatformUIAdapter::OnScroll(double xoffset, double yoffset) {
+  // update state
+  UpdateMjuiState();
+
+  // set scroll info, scale by buffer-to-window ratio
+  const double buffer_window_ratio =
+      static_cast<double>(GetFramebufferSize().first) / GetWindowSize().first;
+  state_.type = mjEVENT_SCROLL;
+  state_.sx = xoffset * buffer_window_ratio;
+  state_.sy = yoffset * buffer_window_ratio;
+
+  // application-specific processing
+  if (event_callback_) {
+    event_callback_(&state_);
+  }
+}
+
+void PlatformUIAdapter::OnWindowRefresh() {
+  state_.type = mjEVENT_REDRAW;
+
+  // application-specific processing
+  if (event_callback_) {
+    event_callback_(&state_);
+  }
+}
+
+void PlatformUIAdapter::OnWindowResize(int width, int height) {
+  auto [buf_width, buf_height] = GetFramebufferSize();
+  state_.rect[0].width = buf_width;
+  state_.rect[0].height = buf_height;
+  if (state_.nrect < 1) state_.nrect = 1;
+
+  // update window layout
+  if (layout_callback_) {
+    layout_callback_(&state_);
+  }
+
+  // update state
+  UpdateMjuiState();
+
+  // set resize info
+  state_.type = mjEVENT_RESIZE;
+
+  // stop dragging
+  state_.dragbutton = 0;
+  state_.dragrect = 0;
+
+  // application-specific processing
+  if (event_callback_) {
+    event_callback_(&state_);
+  }
+}
+
+void PlatformUIAdapter::UpdateMjuiState() {
+  // mouse buttons
+  state_.left = IsLeftMouseButtonPressed();
+  state_.right = IsRightMouseButtonPressed();
+  state_.middle = IsMiddleMouseButtonPressed();
+
+  // keyboard modifiers
+  state_.control = IsCtrlKeyPressed();
+  state_.shift = IsShiftKeyPressed();
+  state_.alt = IsAltKeyPressed();
+
+  // swap left and right if Alt
+  if (state_.alt) {
+    int tmp = state_.left;
+    state_.left = state_.right;
+    state_.right = tmp;
+  }
+
+  // get mouse position, scale by buffer-to-window ratio
+  auto [x, y] = GetCursorPosition();
+  const double buffer_window_ratio =
+      static_cast<double>(GetFramebufferSize().first) / GetWindowSize().first;
+  x *= buffer_window_ratio;
+  y *= buffer_window_ratio;
+
+  // invert y to match OpenGL convention
+  y = state_.rect[0].height - y;
+
+  // save
+  state_.dx = x - state_.x;
+  state_.dy = y - state_.y;
+  state_.x = x;
+  state_.y = y;
+
+  // find mouse rectangle
+  state_.mouserect = mjr_findRect(mju_round(x), mju_round(y), state_.nrect-1, state_.rect+1) + 1;
+}
+}  // namespace mujoco

simulate/platform_ui_adapter.h

@@ -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_

simulate/simulate.cc

@@ -20,18 +20,15 @@
 #include <cstring>
 #include <memory>
 #include <mutex>
+#include <ratio>
 #include <string>
 #include <thread>
+#include <utility>
 
-#include <GLFW/glfw3.h>
 #include "lodepng.h"
-#include <mujoco/mjmodel.h>
-#include <mujoco/mjtnum.h>
-#include <mujoco/mjvisualize.h>
 #include <mujoco/mjxmacro.h>
 #include <mujoco/mujoco.h>
-#include "glfw_dispatch.h"
+#include "platform_ui_adapter.h"
-#include "uitools.h"
 #include "array_safety.h"
 
 // When launched via an App Bundle on macOS, the working directory is the path to the App Bundle's
@@ -51,7 +48,8 @@ namespace {
 namespace mj = ::mujoco;
 namespace mju = ::mujoco::sample_util;
 
-using ::mujoco::Glfw;
+using Seconds = std::chrono::duration<double>;
+using Milliseconds = std::chrono::duration<double, std::milli>;
 
 //------------------------------------------- global -----------------------------------------------
 
@@ -350,13 +348,13 @@ void profilershow(mj::Simulate* sim, mjrRect rect) {
     rect.width/4,
     rect.height/4
   };
-  mjr_figure(viewport, &sim->figtimer, &sim->con);
+  mjr_figure(viewport, &sim->figtimer, &sim->platform_ui->mjr_context());
   viewport.bottom += rect.height/4;
-  mjr_figure(viewport, &sim->figsize, &sim->con);
+  mjr_figure(viewport, &sim->figsize, &sim->platform_ui->mjr_context());
   viewport.bottom += rect.height/4;
-  mjr_figure(viewport, &sim->figcost, &sim->con);
+  mjr_figure(viewport, &sim->figcost, &sim->platform_ui->mjr_context());
   viewport.bottom += rect.height/4;
-  mjr_figure(viewport, &sim->figconstraint, &sim->con);
+  mjr_figure(viewport, &sim->figconstraint, &sim->platform_ui->mjr_context());
 }
 
 
@@ -453,7 +451,7 @@ void sensorshow(mj::Simulate* sim, mjrRect rect) {
     width,
     rect.height/3
   };
-  mjr_figure(viewport, &sim->figsensor, &sim->con);
+  mjr_figure(viewport, &sim->figsensor, &sim->platform_ui->mjr_context());
 }
 
 // prepare info text
@@ -935,12 +933,12 @@ void copykey(mj::Simulate* sim) {
   mju::strcat_arr(clipboard, "'/>");
 
   // copy to clipboard
-  Glfw().glfwSetClipboardString(sim->window, clipboard);
+  sim->platform_ui->SetClipboardString(clipboard);
 }
 
 // millisecond timer, for MuJoCo built-in profiler
 mjtNum timer() {
-  return 1000*Glfw().glfwGetTime();
+  return Milliseconds(mj::Simulate::Clock::now().time_since_epoch()).count();
 }
 
 // clear all times
@@ -975,7 +973,7 @@ void copycamera(mj::Simulate* sim) {
                    camera[0].up[0], camera[0].up[1], camera[0].up[2]);
 
   // copy spec into clipboard
-  Glfw().glfwSetClipboardString(sim->window, clipboard);
+  sim->platform_ui->SetClipboardString(clipboard);
 }
 
 // update UI 0 when MuJoCo structures change (except for joint sliders)
@@ -1000,11 +998,36 @@ void updatesettings(mj::Simulate* sim) {
   }
 
   // update UI
-  mjui_update(-1, -1, &sim->ui0, &sim->uistate, &sim->con);
+  mjui_update(-1, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
+}
+
+// Compute suitable font scale.
+int ComputeFontScale(const mj::PlatformUIAdapter& platform_ui) {
+  // compute framebuffer-to-window ratio
+  auto [buf_width, buf_height] = platform_ui.GetFramebufferSize();
+  auto [win_width, win_height] = platform_ui.GetWindowSize();
+  double b2w = static_cast<double>(buf_width) / win_width;
+
+  // compute PPI
+  double PPI = b2w * platform_ui.GetDisplayPixelsPerInch();
+
+  // estimate font scaling, guard against unrealistic PPI
+  int fs;
+  if (buf_width > win_width) {
+    fs = mju_round(b2w * 100);
+  } else if (PPI>50 && PPI<350) {
+    fs = mju_round(PPI);
+  } else {
+    fs = 150;
+  }
+  fs = mju_round(fs * 0.02) * 50;
+  fs = mjMIN(300, mjMAX(100, fs));
+
+  return fs;
 }
 
 
-//---------------------------------- UI hooks (for uitools.c) --------------------------------------
+//---------------------------------- UI handlers ---------------------------------------------------
 
 // determine enable/disable item state given category
 int uiPredicate(int category, void* userdata) {
@@ -1033,11 +1056,6 @@ void uiLayout(mjuiState* state) {
   // set number of rectangles
   state->nrect = 4;
 
-  // rect 0: entire framebuffer
-  rect[0].left = 0;
-  rect[0].bottom = 0;
-  Glfw().glfwGetFramebufferSize(sim->window, &rect[0].width, &rect[0].height);
-
   // rect 1: UI 0
   rect[1].left = 0;
   rect[1].width = sim->ui0_enable ? sim->ui0.width : 0;
@@ -1057,6 +1075,13 @@ void uiLayout(mjuiState* state) {
   rect[3].height = rect[0].height;
 }
 
+void uiModify(mjUI* ui, mjuiState* state, mjrContext* con) {
+  mjui_resize(ui, con);
+  mjr_addAux(ui->auxid, ui->width, ui->maxheight, ui->spacing.samples, con);
+  uiLayout(state);
+  mjui_update(-1, -1, ui, state, con);
+}
+
 // handle UI event
 void uiEvent(mjuiState* state) {
   mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
@@ -1070,7 +1095,7 @@ void uiEvent(mjuiState* state) {
       (state->dragrect==0 && state->mouserect==sim->ui0.rectid) ||
       state->type==mjEVENT_KEY) {
     // process UI event
-    mjuiItem* it = mjui_event(&sim->ui0, state, &sim->con);
+    mjuiItem* it = mjui_event(&sim->ui0, state, &sim->platform_ui->mjr_context());
 
     // file section
     if (it && it->sectionid==SECT_FILE) {
@@ -1125,39 +1150,21 @@ void uiEvent(mjuiState* state) {
         break;
 
       case 2:             // Font
-        mjr_changeFont(50*(sim->font+1), &sim->con);
+        mjr_changeFont(50*(sim->font+1), &sim->platform_ui->mjr_context());
         break;
 
       case 9:             // Full screen
-        if (Glfw().glfwGetWindowMonitor(sim->window)) {
+        sim->platform_ui->ToggleFullscreen();
-          // restore window from saved data
-          Glfw().glfwSetWindowMonitor(sim->window, nullptr, sim->windowpos[0], sim->windowpos[1],
-                                      sim->windowsize[0], sim->windowsize[1], 0);
-        }
-
-        // currently windowed: switch to full screen
-        else {
-          // save window data
-          Glfw().glfwGetWindowPos(sim->window, sim->windowpos, sim->windowpos+1);
-          Glfw().glfwGetWindowSize(sim->window, sim->windowsize, sim->windowsize+1);
-
-          // switch
-          Glfw().glfwSetWindowMonitor(sim->window, Glfw().glfwGetPrimaryMonitor(), 0, 0,
-                                      sim->vmode.width, sim->vmode.height, sim->vmode.refreshRate);
-        }
-
-        // reinstante vsync, just in case
-        Glfw().glfwSwapInterval(sim->vsync);
         break;
 
       case 10:            // Vertical sync
-        Glfw().glfwSwapInterval(sim->vsync);
+        sim->platform_ui->SetVSync(sim->vsync);
         break;
       }
 
       // modify UI
-      uiModify(sim->window, &sim->ui0, state, &sim->con);
+      uiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
-      uiModify(sim->window, &sim->ui1, state, &sim->con);
+      uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
     }
 
     // simulation section
@@ -1245,7 +1252,8 @@ void uiEvent(mjuiState* state) {
         } else {
           sim->cam.type = mjCAMERA_FREE;
           sim->camera = 0;
-          mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
+          mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate,
+                      &sim->platform_ui->mjr_context());
         }
       } else {
         sim->cam.type = mjCAMERA_FIXED;
@@ -1264,7 +1272,7 @@ void uiEvent(mjuiState* state) {
         sim->ui1.nsect = SECT_JOINT;
         makejoint(sim, sim->ui1.sect[SECT_JOINT].state);
         sim->ui1.nsect = NSECT1;
-        uiModify(sim->window, &sim->ui1, state, &sim->con);
+        uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
       }
 
       // remake control section if actuator group changed
@@ -1272,7 +1280,7 @@ void uiEvent(mjuiState* state) {
         sim->ui1.nsect = SECT_CONTROL;
         makecontrol(sim, sim->ui1.sect[SECT_CONTROL].state);
         sim->ui1.nsect = NSECT1;
-        uiModify(sim->window, &sim->ui1, state, &sim->con);
+        uiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
       }
     }
 
@@ -1287,14 +1295,14 @@ void uiEvent(mjuiState* state) {
       (state->dragrect==0 && state->mouserect==sim->ui1.rectid) ||
       state->type==mjEVENT_KEY) {
     // process UI event
-    mjuiItem* it = mjui_event(&sim->ui1, state, &sim->con);
+    mjuiItem* it = mjui_event(&sim->ui1, state, &sim->platform_ui->mjr_context());
 
     // control section
     if (it && it->sectionid==SECT_CONTROL) {
       // clear controls
       if (it->itemid==0) {
         mju_zero(d->ctrl, m->nu);
-        mjui_update(SECT_CONTROL, -1, &sim->ui1, &sim->uistate, &sim->con);
+        mjui_update(SECT_CONTROL, -1, &sim->ui1, &sim->uistate, &sim->platform_ui->mjr_context());
       }
     }
 
@@ -1311,7 +1319,7 @@ void uiEvent(mjuiState* state) {
       if (m) {
         sim->run = 1 - sim->run;
         sim->pert.active = 0;
-        mjui_update(-1, -1, &sim->ui0, state, &sim->con);
+        mjui_update(-1, -1, &sim->ui0, state, &sim->platform_ui->mjr_context());
       }
       break;
 
@@ -1348,7 +1356,7 @@ void uiEvent(mjuiState* state) {
           sim->camera += 1;
         }
         sim->cam.fixedcamid = sim->camera - 2;
-        mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
+        mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
       }
       break;
 
@@ -1362,28 +1370,28 @@ void uiEvent(mjuiState* state) {
           sim->camera -= 1;
         }
         sim->cam.fixedcamid = sim->camera - 2;
-        mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
+        mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
       }
       break;
 
     case mjKEY_F6:                   // cycle frame visualisation
       if (m) {
         sim->vopt.frame = (sim->vopt.frame + 1) % mjNFRAME;
-        mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
+        mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
       }
       break;
 
     case mjKEY_F7:                   // cycle label visualisation
       if (m) {
         sim->vopt.label = (sim->vopt.label + 1) % mjNLABEL;
-        mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
+        mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
       }
       break;
 
     case mjKEY_ESCAPE:          // free camera
       sim->cam.type = mjCAMERA_FREE;
       sim->camera = 0;
-      mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
+      mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->platform_ui->mjr_context());
       break;
 
     case '-':                   // slow down
@@ -1472,7 +1480,8 @@ void uiEvent(mjuiState* state) {
 
           // UI camera
           sim->camera = 1;
-          mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate, &sim->con);
+          mjui_update(SECT_RENDERING, -1, &sim->ui0, &sim->uistate,
+                      &sim->platform_ui->mjr_context());
         }
       }
 
@@ -1531,33 +1540,30 @@ void uiEvent(mjuiState* state) {
 
     return;
   }
-}
 
-void uiRender(mjuiState* state) {
+  // Dropped files
-  mj::Simulate* sim = static_cast<mj::Simulate*>(state->userdata);
+  if (state->type == mjEVENT_FILESDROP && state->dropcount > 0) {
-  sim->render();
-}
-
-// drop file callback
-void drop(mj::Simulate* sim, int count, const char** paths) {
-  // make sure list is non-empty
-  if (count>0) {
     while (sim->droploadrequest.load()) {}
-    mju::strcpy_arr(sim->dropfilename, paths[0]);
+    mju::strcpy_arr(sim->dropfilename, state->droppaths[0]);
     sim->droploadrequest.store(true);
+    return;
+  }
+
+  // Redraw
+  if (state->type == mjEVENT_REDRAW) {
+    sim->render();
+    return;
   }
 }
-
-void uiDrop(mjuiState* state, int count, const char** paths) {
-  mj::Simulate* simulate = static_cast<mj::Simulate*>(state->userdata);
-  drop(simulate, count, paths);
-}
-
 }  // namespace
 
 namespace mujoco {
 namespace mju = ::mujoco::sample_util;
 
+Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui)
+    : platform_ui(std::move(platform_ui)),
+      uistate(this->platform_ui->state()) {}
+
 //------------------------------------ apply pose perturbations ------------------------------------
 void Simulate::applyposepertubations(int flg_paused) {
   if (this->m != nullptr) {
@@ -1598,7 +1604,7 @@ void Simulate::loadmodel() {
 
   // re-create scene and context
   mjv_makeScene(this->m, &this->scn, maxgeom);
-  mjr_makeContext(this->m, &this->con, 50*(this->font+1));
+  this->platform_ui->RefreshMjrContext(this->m, 50*(this->font+1));
 
   // clear perturbation state
   this->pert.active = 0;
@@ -1616,10 +1622,10 @@ void Simulate::loadmodel() {
   mjv_updateScene(this->m, this->d, &this->vopt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
 
   // set window title to model name
-  if (this->window && this->m->names) {
+  if (this->m->names) {
-    char title[200] = "Simulate : ";
+    char title[200] = "MuJoCo : ";
     mju::strcat_arr(title, this->m->names);
-    Glfw().glfwSetWindowTitle(this->window, title);
+    platform_ui->SetWindowTitle(title);
   }
 
   // set keyframe range and divisions
@@ -1631,8 +1637,8 @@ void Simulate::loadmodel() {
   makesections(this);
 
   // full ui update
-  uiModify(this->window, &this->ui0, &this->uistate, &this->con);
+  uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-  uiModify(this->window, &this->ui1, &this->uistate, &this->con);
+  uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
   updatesettings(this);
 
   // clear request
@@ -1659,11 +1665,11 @@ void Simulate::loadmodel() {
 // prepare to render
 void Simulate::prepare() {
   // data for FPS calculation
-  static double lastupdatetm = 0;
+  static std::chrono::time_point<Clock> lastupdatetm;
 
   // update interval, save update time
-  double tmnow = Glfw().glfwGetTime();
+  auto tmnow = Clock::now();
-  double interval = tmnow - lastupdatetm;
+  double interval = Seconds(tmnow - lastupdatetm).count();
   interval = mjMIN(1, mjMAX(0.0001, interval));
   lastupdatetm = tmnow;
 
@@ -1678,12 +1684,12 @@ void Simulate::prepare() {
   // update watch
   if (this->ui0_enable && this->ui0.sect[SECT_WATCH].state) {
     watch(this);
-    mjui_update(SECT_WATCH, -1, &this->ui0, &this->uistate, &this->con);
+    mjui_update(SECT_WATCH, -1, &this->ui0, &this->uistate, &this->platform_ui->mjr_context());
   }
 
   // update joint
   if (this->ui1_enable && this->ui1.sect[SECT_JOINT].state) {
-    mjui_update(SECT_JOINT, -1, &this->ui1, &this->uistate, &this->con);
+    mjui_update(SECT_JOINT, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
   }
 
   // update info text
@@ -1693,7 +1699,7 @@ void Simulate::prepare() {
 
   // update control
   if (this->ui1_enable && this->ui1.sect[SECT_CONTROL].state) {
-    mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->con);
+    mjui_update(SECT_CONTROL, -1, &this->ui1, &this->uistate, &this->platform_ui->mjr_context());
   }
 
   // update profiler
@@ -1712,6 +1718,11 @@ void Simulate::prepare() {
 
 // render the ui to the window
 void Simulate::render() {
+  if (this->platform_ui->RefreshMjrContext(this->m, 50*(this->font+1))) {
+    uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
+    uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
+  }
+
   // get 3D rectangle and reduced for profiler
   mjrRect rect = this->uistate.rect[3];
   mjrRect smallrect = rect;
@@ -1726,39 +1737,43 @@ void Simulate::render() {
 
     // label
     if (this->loadrequest) {
-      mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect, "loading", nullptr, &this->con);
+      mjr_overlay(mjFONT_BIG, mjGRID_TOPRIGHT, smallrect, "loading", nullptr,
+                  &this->platform_ui->mjr_context());
     } else {
       char intro_message[Simulate::kMaxFilenameLength];
       mju::sprintf_arr(intro_message,
                        "MuJoCo version %s\nDrag-and-drop model file here", mj_versionString());
-      mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, intro_message, 0, &this->con);
+      mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, intro_message, 0,
+                  &this->platform_ui->mjr_context());
     }
 
     // show last loading error
     if (this->loadError[0]) {
-      mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0, &this->con);
+      mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0,
+                  &this->platform_ui->mjr_context());
     }
 
     // render uis
     if (this->ui0_enable) {
-      mjui_render(&this->ui0, &this->uistate, &this->con);
+      mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
     }
     if (this->ui1_enable) {
-      mjui_render(&this->ui1, &this->uistate, &this->con);
+      mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
     }
 
     // finalize
-    Glfw().glfwSwapBuffers(this->window);
+    this->platform_ui->SwapBuffers();
 
     return;
   }
 
   // render scene
-  mjr_render(rect, &this->scn, &this->con);
+  mjr_render(rect, &this->scn, &this->platform_ui->mjr_context());
 
   // show last loading error
   if (this->loadError[0]) {
-    mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0, &this->con);
+    mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->loadError, 0,
+                &this->platform_ui->mjr_context());
   }
 
   // make pause/loading label
@@ -1794,28 +1809,30 @@ void Simulate::render() {
     std::string newline = !pauseloadlabel.empty() && rtlabel[0] ? "\n" : "";
     std::string topleftlabel = rtlabel + newline + pauseloadlabel;
     mjr_overlay(mjFONT_BIG, mjGRID_TOPLEFT, smallrect,
-                topleftlabel.c_str(), nullptr, &this->con);
+                topleftlabel.c_str(), nullptr, &this->platform_ui->mjr_context());
   }
 
 
   // show ui 0
   if (this->ui0_enable) {
-    mjui_render(&this->ui0, &this->uistate, &this->con);
+    mjui_render(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
   }
 
   // show ui 1
   if (this->ui1_enable) {
-    mjui_render(&this->ui1, &this->uistate, &this->con);
+    mjui_render(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
   }
 
   // show help
   if (this->help) {
-    mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, help_title, help_content, &this->con);
+    mjr_overlay(mjFONT_NORMAL, mjGRID_TOPLEFT, rect, help_title, help_content,
+                &this->platform_ui->mjr_context());
   }
 
   // show info
   if (this->info) {
-    mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->info_title, this->info_content, &this->con);
+    mjr_overlay(mjFONT_NORMAL, mjGRID_BOTTOMLEFT, rect, this->info_title, this->info_content,
+                &this->platform_ui->mjr_context());
   }
 
   // show profiler
@@ -1836,7 +1853,7 @@ void Simulate::render() {
     if (!rgb) {
       mju_error("could not allocate buffer for screenshot");
     }
-    mjr_readPixels(rgb.get(), nullptr, uistate.rect[0], &con);
+    mjr_readPixels(rgb.get(), nullptr, uistate.rect[0], &this->platform_ui->mjr_context());
 
     // flip up-down
     for (int r = 0; r < h/2; ++r) {
@@ -1861,45 +1878,15 @@ void Simulate::render() {
   }
 
   // finalize
-  Glfw().glfwSwapBuffers(this->window);
+  this->platform_ui->SwapBuffers();
 }
 
 
-// clear callbacks registered in external structures
-void Simulate::clearcallback() {
-  uiClearCallback(this->window);
-}
 
 void Simulate::renderloop() {
   // Set timer callback (milliseconds)
   mjcb_time = timer;
 
-  // multisampling
-  Glfw().glfwWindowHint(GLFW_SAMPLES, 4);
-  Glfw().glfwWindowHint(GLFW_VISIBLE, 1);
-
-  // get videomode and save
-  this->vmode = *Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
-
-  // use videomode refreshrate if nonzero
-  if (this->vmode.refreshRate) this->refreshRate = this->vmode.refreshRate;
-
-  // create window
-  this->window = Glfw().glfwCreateWindow((2*this->vmode.width)/3, (2*this->vmode.height)/3,
-                                         "Simulate", nullptr, nullptr);
-  if (!this->window) {
-    Glfw().glfwTerminate();
-    mju_error("could not create window");
-  }
-
-  // save window position and size
-  Glfw().glfwGetWindowPos(this->window, this->windowpos, this->windowpos+1);
-  Glfw().glfwGetWindowSize(this->window, this->windowsize, this->windowsize+1);
-
-  // make context current, set v-sync
-  Glfw().glfwMakeContextCurrent(this->window);
-  Glfw().glfwSwapInterval(this->vsync);
-
   // init abstract visualization
   mjv_defaultCamera(&this->cam);
   mjv_defaultOption(&this->vopt);
@@ -1911,31 +1898,38 @@ void Simulate::renderloop() {
   mjv_makeScene(nullptr, &this->scn, maxgeom);
 
   // select default font
-  int fontscale = uiFontScale(this->window);
+  int fontscale = ComputeFontScale(*this->platform_ui);
   this->font = fontscale/50 - 1;
 
   // make empty context
-  mjr_defaultContext(&this->con);
+  this->platform_ui->RefreshMjrContext(nullptr, fontscale);
-  mjr_makeContext(nullptr, &this->con, fontscale);
 
   // init state and uis
   std::memset(&this->uistate, 0, sizeof(mjuiState));
   std::memset(&this->ui0, 0, sizeof(mjUI));
   std::memset(&this->ui1, 0, sizeof(mjUI));
+
+  auto [buf_width, buf_height] = this->platform_ui->GetFramebufferSize();
+  this->uistate.nrect = 1;
+  this->uistate.rect[0].width = buf_width;
+  this->uistate.rect[0].height = buf_height;
+
   this->ui0.spacing = mjui_themeSpacing(this->spacing);
   this->ui0.color = mjui_themeColor(this->color);
   this->ui0.predicate = uiPredicate;
   this->ui0.rectid = 1;
   this->ui0.auxid = 0;
+
   this->ui1.spacing = mjui_themeSpacing(this->spacing);
   this->ui1.color = mjui_themeColor(this->color);
   this->ui1.predicate = uiPredicate;
   this->ui1.rectid = 2;
   this->ui1.auxid = 1;
 
-  // set GLFW callbacks
+  // set GUI adapter callbacks
   this->uistate.userdata = this;
-  uiSetCallback(this->window, &this->uistate, uiEvent, uiLayout, uiRender, uiDrop);
+  this->platform_ui->SetEventCallback(uiEvent);
+  this->platform_ui->SetLayoutCallback(uiLayout);
 
   // populate uis with standard sections
   this->ui0.userdata = this;
@@ -1944,11 +1938,11 @@ void Simulate::renderloop() {
   mjui_add(&this->ui0, this->defOption);
   mjui_add(&this->ui0, this->defSimulation);
   mjui_add(&this->ui0, this->defWatch);
-  uiModify(this->window, &this->ui0, &this->uistate, &this->con);
+  uiModify(&this->ui0, &this->uistate, &this->platform_ui->mjr_context());
-  uiModify(this->window, &this->ui1, &this->uistate, &this->con);
+  uiModify(&this->ui1, &this->uistate, &this->platform_ui->mjr_context());
 
   // run event loop
-  while (!Glfw().glfwWindowShouldClose(this->window) && !this->exitrequest.load()) {
+  while (!this->platform_ui->ShouldCloseWindow() && !this->exitrequest.load()) {
     {
       const std::lock_guard<std::mutex> lock(this->mtx);
 
@@ -1959,8 +1953,8 @@ void Simulate::renderloop() {
         this->loadrequest = 1;
       }
 
-      // handle events (calls all callbacks)
+      // poll and handle events
-      Glfw().glfwPollEvents();
+      this->platform_ui->PollEvents();
 
       // prepare to render
       this->prepare();
@@ -1972,16 +1966,6 @@ void Simulate::renderloop() {
 
   this->exitrequest.store(true);
 
-  this->clearcallback();
   mjv_freeScene(&this->scn);
-  mjr_freeContext(&this->con);
-
-  Glfw().glfwDestroyWindow(this->window);
 }
-
-//------------------------------------ setup the glfw dispatch table -------------------------------
-void setglfwdlhandle(void* dlhandle) {
-  Glfw(dlhandle);
-}
-
 }  // namespace mujoco

simulate/simulate.h

@@ -16,35 +16,28 @@
 #define MUJOCO_SIMULATE_SIMULATE_H_
 
 #include <atomic>
+#include <chrono>
 #include <condition_variable>
+#include <memory>
 #include <mutex>
+#include <ratio>
 #include <thread>
 
-#include <GLFW/glfw3.h>
 #include <mujoco/mujoco.h>
-
+#include "platform_ui_adapter.h"
-#ifdef MJSIMULATE_STATIC
-  // static library
-  #define MJSIMULATEAPI
-  #define MJSIMULATELOCAL
-#else
-  #ifdef MJSIMULATE_DLL_EXPORTS
-    #define MJSIMULATEAPI MUJOCO_HELPER_DLL_EXPORT
-  #else
-    #define MJSIMULATEAPI MUJOCO_HELPER_DLL_IMPORT
-  #endif
-  #define MJSIMULATELOCAL MUJOCO_HELPER_DLL_LOCAL
-#endif
 
 namespace mujoco {
 
 //-------------------------------- global -----------------------------------------------
 
 // Simulate states not contained in MuJoCo structures
-class MJSIMULATEAPI Simulate {
+class Simulate {
  public:
+  using Clock = std::chrono::steady_clock;
+  static_assert(std::ratio_less_equal_v<Clock::period, std::milli>);
+
   // create object and initialize the simulate ui
-  Simulate() = default;
+  Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui_adapter);
 
   // Apply UI pose perturbations to model and data
   void applyposepertubations(int flg_paused);
@@ -66,11 +59,7 @@ class MJSIMULATEAPI Simulate {
   // render the ui to the window
   void render();
 
-  // clear callbacks registered in external structures
-  void clearcallback();
-
   // loop to render the UI (must be called from main thread because of MacOS)
-  // https://discourse.glfw.org/t/multithreading-glfw/573/5
   void renderloop();
 
   // constants
@@ -162,13 +151,11 @@ class MJSIMULATEAPI Simulate {
   mjvFigure figsensor = {};
 
   // OpenGL rendering and UI
-  GLFWvidmode vmode = {};
   int refreshRate = 60;
   int windowpos[2] = {0};
   int windowsize[2] = {0};
-  mjrContext con = {};
+  std::unique_ptr<PlatformUIAdapter> platform_ui;
-  GLFWwindow* window = nullptr;
+  mjuiState& uistate;
-  mjuiState uistate = {};
   mjUI ui0 = {};
   mjUI ui1 = {};
 
@@ -226,11 +213,6 @@ class MJSIMULATEAPI Simulate {
   char info_title[Simulate::kMaxFilenameLength] = {0};
   char info_content[Simulate::kMaxFilenameLength] = {0};
 };
-
-// setup the glfw dispatch table
-// if set, must be called prior to other Simulate functions
-MJSIMULATEAPI void setglfwdlhandle(void* dlhandle);
-
 }  // namespace mujoco
 
 #endif

simulate/uitools.cc

@@ -1,338 +0,0 @@
-// Copyright 2021 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.
-
-#include "uitools.h"
-
-#include <stdio.h>
-#include <string.h>
-
-#include <GLFW/glfw3.h>
-#include "glfw_dispatch.h"
-
-namespace {
-using ::mujoco::Glfw;
-}
-
-//------------------------------------ internal GLFW callbacks -------------------------------------
-
-// update state
-static void uiUpdateState(GLFWwindow* wnd) {
-  // extract data from user pointer
-  uiUserPointer* ptr = (uiUserPointer*)Glfw().glfwGetWindowUserPointer(wnd);
-  mjuiState* state = ptr->state;
-
-  // mouse buttons
-  state->left =   (Glfw().glfwGetMouseButton(wnd, GLFW_MOUSE_BUTTON_LEFT)==GLFW_PRESS);
-  state->right =  (Glfw().glfwGetMouseButton(wnd, GLFW_MOUSE_BUTTON_RIGHT)==GLFW_PRESS);
-  state->middle = (Glfw().glfwGetMouseButton(wnd, GLFW_MOUSE_BUTTON_MIDDLE)==GLFW_PRESS);
-
-  // keyboard modifiers
-  state->control = (Glfw().glfwGetKey(wnd, GLFW_KEY_LEFT_CONTROL)==GLFW_PRESS ||
-                    Glfw().glfwGetKey(wnd, GLFW_KEY_RIGHT_CONTROL)==GLFW_PRESS);
-  state->shift =   (Glfw().glfwGetKey(wnd, GLFW_KEY_LEFT_SHIFT)==GLFW_PRESS ||
-                    Glfw().glfwGetKey(wnd, GLFW_KEY_RIGHT_SHIFT)==GLFW_PRESS);
-  state->alt =     (Glfw().glfwGetKey(wnd, GLFW_KEY_LEFT_ALT)==GLFW_PRESS ||
-                    Glfw().glfwGetKey(wnd, GLFW_KEY_RIGHT_ALT)==GLFW_PRESS);
-
-  // swap left and right if Alt
-  if (state->alt) {
-    int tmp = state->left;
-    state->left = state->right;
-    state->right = tmp;
-  }
-
-  // get mouse position, scale by buffer-to-window ratio
-  double x, y;
-  Glfw().glfwGetCursorPos(wnd, &x, &y);
-  x *= ptr->buffer2window;
-  y *= ptr->buffer2window;
-
-  // invert y to match OpenGL convention
-  y = state->rect[0].height - y;
-
-  // save
-  state->dx = x - state->x;
-  state->dy = y - state->y;
-  state->x = x;
-  state->y = y;
-
-  // find mouse rectangle
-  state->mouserect = mjr_findRect(mju_round(x), mju_round(y), state->nrect-1, state->rect+1) + 1;
-}
-
-
-
-// keyboard
-static void uiKeyboard(GLFWwindow* wnd, int key, int scancode, int act, int mods) {
-  // release: nothing to do
-  if (act==GLFW_RELEASE) {
-    return;
-  }
-
-  // extract data from user pointer
-  uiUserPointer* ptr = (uiUserPointer*)Glfw().glfwGetWindowUserPointer(wnd);
-  mjuiState* state = ptr->state;
-
-  // update state
-  uiUpdateState(wnd);
-
-  // set key info
-  state->type = mjEVENT_KEY;
-  state->key = key;
-  state->keytime = Glfw().glfwGetTime();
-
-  // application-specific processing
-  ptr->uiEvent(state);
-}
-
-
-
-// mouse button
-static void uiMouseButton(GLFWwindow* wnd, int button, int act, int mods) {
-  // extract data from user pointer
-  uiUserPointer* ptr = (uiUserPointer*)Glfw().glfwGetWindowUserPointer(wnd);
-  mjuiState* state = ptr->state;
-
-  // update state
-  uiUpdateState(wnd);
-
-  // translate button
-  if (button==GLFW_MOUSE_BUTTON_LEFT) {
-    button = mjBUTTON_LEFT;
-  } else if (button==GLFW_MOUSE_BUTTON_RIGHT) {
-    button = mjBUTTON_RIGHT;
-  } else {
-    button = mjBUTTON_MIDDLE;
-  }
-
-  // swap left and right if Alt
-  if (Glfw().glfwGetKey(wnd, GLFW_KEY_LEFT_ALT)==GLFW_PRESS ||
-      Glfw().glfwGetKey(wnd, GLFW_KEY_RIGHT_ALT)==GLFW_PRESS) {
-    if (button==mjBUTTON_LEFT) {
-      button = mjBUTTON_RIGHT;
-    } else if (button==mjBUTTON_RIGHT) {
-      button = mjBUTTON_LEFT;
-    }
-  }
-
-  // press
-  if (act==GLFW_PRESS) {
-    // detect doubleclick: 250 ms
-    if (button==state->button && Glfw().glfwGetTime()-state->buttontime<0.25) {
-      state->doubleclick = 1;
-    } else {
-      state->doubleclick = 0;
-    }
-
-    // set info
-    state->type = mjEVENT_PRESS;
-    state->button = button;
-    state->buttontime = Glfw().glfwGetTime();
-
-    // start dragging
-    if (state->mouserect) {
-      state->dragbutton = state->button;
-      state->dragrect = state->mouserect;
-    }
-  }
-
-  // release
-  else {
-    state->type = mjEVENT_RELEASE;
-  }
-
-  // application-specific processing
-  ptr->uiEvent(state);
-
-  // stop dragging after application processing
-  if (state->type==mjEVENT_RELEASE) {
-    state->dragrect = 0;
-    state->dragbutton = 0;
-  }
-}
-
-
-
-// mouse move
-static void uiMouseMove(GLFWwindow* wnd, double xpos, double ypos) {
-  // extract data from user pointer
-  uiUserPointer* ptr = (uiUserPointer*)Glfw().glfwGetWindowUserPointer(wnd);
-  mjuiState* state = ptr->state;
-
-  // no buttons down: nothing to do
-  if (!state->left && !state->right && !state->middle) {
-    return;
-  }
-
-  // update state
-  uiUpdateState(wnd);
-
-  // set move info
-  state->type = mjEVENT_MOVE;
-
-  // application-specific processing
-  ptr->uiEvent(state);
-}
-
-
-
-// scroll
-static void uiScroll(GLFWwindow* wnd, double xoffset, double yoffset) {
-  // extract data from user pointer
-  uiUserPointer* ptr = (uiUserPointer*)Glfw().glfwGetWindowUserPointer(wnd);
-  mjuiState* state = ptr->state;
-
-  // update state
-  uiUpdateState(wnd);
-
-  // set scroll info, scale by buffer-to-window ratio
-  state->type = mjEVENT_SCROLL;
-  state->sx = xoffset * ptr->buffer2window;
-  state->sy = yoffset * ptr->buffer2window;
-
-  // application-specific processing
-  ptr->uiEvent(state);
-}
-
-
-
-// resize
-static void uiResize(GLFWwindow* wnd, int width, int height) {
-  // extract data from user pointer
-  uiUserPointer* ptr = (uiUserPointer*)Glfw().glfwGetWindowUserPointer(wnd);
-  mjuiState* state = ptr->state;
-
-  // set layout
-  ptr->uiLayout(state);
-
-  // update state
-  uiUpdateState(wnd);
-
-  // set resize info
-  state->type = mjEVENT_RESIZE;
-
-  // stop dragging
-  state->dragbutton = 0;
-  state->dragrect = 0;
-
-  // application-specific processing (unless called with 0,0 from uiModify)
-  if (width && height) {
-    ptr->uiEvent(state);
-  }
-}
-
-
-static void uiRender(GLFWwindow* wnd) {
-  uiUserPointer* ptr = (uiUserPointer*)Glfw().glfwGetWindowUserPointer(wnd);
-  mjuiState* state = ptr->state;
-  ptr->uiRender(state);
-}
-
-static void uiDrop(GLFWwindow* wnd, int count, const char** paths) {
-  uiUserPointer* ptr = (uiUserPointer*)Glfw().glfwGetWindowUserPointer(wnd);
-  mjuiState* state = ptr->state;
-  ptr->uiDrop(state, count, paths);
-}
-
-//------------------------------------------- public API -------------------------------------------
-
-// Compute suitable font scale.
-int uiFontScale(GLFWwindow* wnd) {
-  // compute framebuffer-to-window ratio
-  int width_win, width_buf, height;
-  Glfw().glfwGetWindowSize(wnd, &width_win, &height);
-  Glfw().glfwGetFramebufferSize(wnd, &width_buf, &height);
-  double b2w = (double)width_buf / (double)width_win;
-
-  // compute PPI
-  int width_MM, height_MM;
-  Glfw().glfwGetMonitorPhysicalSize(Glfw().glfwGetPrimaryMonitor(), &width_MM, &height_MM);
-  int width_vmode = Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor())->width;
-  double PPI = 25.4 * b2w * (double)width_vmode / (double)width_MM;
-
-  // estimate font scaling, guard against unrealistic PPI
-  int fs;
-  if (width_buf>width_win) {
-    fs = mju_round(b2w * 100);
-  } else if (PPI>50 && PPI<350) {
-    fs = mju_round(PPI);
-  } else {
-    fs = 150;
-  }
-  fs = mju_round(fs * 0.02) * 50;
-  fs = mjMIN(300, mjMAX(100, fs));
-
-  return fs;
-}
-
-
-
-// Set internal and user-supplied UI callbacks in GLFW window.
-void uiSetCallback(GLFWwindow* wnd, mjuiState* state,
-                   uiEventFn uiEvent, uiLayoutFn uiLayout,
-                   uiRenderFn uiUserRender, uiDropFn uiUserDrop) {
-  // make container with user-supplied objects and set window pointer
-  uiUserPointer* ptr = (uiUserPointer*) mju_malloc(sizeof(uiUserPointer));
-  ptr->state = state;
-  ptr->uiEvent = uiEvent;
-  ptr->uiLayout = uiLayout;
-  ptr->uiRender = uiUserRender;
-  ptr->uiDrop = uiUserDrop;
-  Glfw().glfwSetWindowUserPointer(wnd, ptr);
-
-  // compute framebuffer-to-window pixel ratio
-  int width_win, width_buf, height;
-  Glfw().glfwGetWindowSize(wnd, &width_win, &height);
-  Glfw().glfwGetFramebufferSize(wnd, &width_buf, &height);
-  ptr->buffer2window = (double)width_buf / (double)width_win;
-
-  // set internal callbacks
-  Glfw().glfwSetKeyCallback(wnd, uiKeyboard);
-  Glfw().glfwSetCursorPosCallback(wnd, uiMouseMove);
-  Glfw().glfwSetMouseButtonCallback(wnd, uiMouseButton);
-  Glfw().glfwSetScrollCallback(wnd, uiScroll);
-  Glfw().glfwSetWindowSizeCallback(wnd, uiResize);
-  Glfw().glfwSetWindowRefreshCallback(wnd, uiRender);
-  Glfw().glfwSetDropCallback(wnd, uiDrop);
-}
-
-
-
-// Clear UI callbacks in GLFW window.
-void uiClearCallback(GLFWwindow* wnd) {
-  // clear container
-  if (Glfw().glfwGetWindowUserPointer(wnd)) {
-    mju_free(Glfw().glfwGetWindowUserPointer(wnd));
-    Glfw().glfwSetWindowUserPointer(wnd, nullptr);
-  }
-
-  // clear internal callbacks
-  Glfw().glfwSetKeyCallback(wnd, nullptr);
-  Glfw().glfwSetCursorPosCallback(wnd, nullptr);
-  Glfw().glfwSetMouseButtonCallback(wnd, nullptr);
-  Glfw().glfwSetScrollCallback(wnd, nullptr);
-  Glfw().glfwSetWindowSizeCallback(wnd, nullptr);
-  Glfw().glfwSetWindowRefreshCallback(wnd, nullptr);
-  Glfw().glfwSetDropCallback(wnd, nullptr);
-}
-
-
-
-// Modify UI structure.
-void uiModify(GLFWwindow* wnd, mjUI* ui, mjuiState* state, mjrContext* con) {
-  mjui_resize(ui, con);
-  mjr_addAux(ui->auxid, ui->width, ui->maxheight, ui->spacing.samples, con);
-  uiResize(wnd, 0, 0);
-  mjui_update(-1, -1, ui, state, con);
-}

simulate/uitools.h

@@ -1,63 +0,0 @@
-// Copyright 2021 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_UITOOLS_H_
-#define MUJOCO_SIMULATE_UITOOLS_H_
-
-#include <GLFW/glfw3.h>
-#include <mujoco/mujoco.h>
-
-// this is a C-API
-#if defined(__cplusplus)
-extern "C" {
-#endif
-
-
-// User-supplied callback function types.
-typedef void (*uiEventFn)(mjuiState* state);
-typedef void (*uiLayoutFn)(mjuiState* state);
-typedef void (*uiRenderFn)(mjuiState* state);
-typedef void (*uiDropFn)  (mjuiState* state, int count, const char** paths);
-
-// Container for GLFW window pointer.
-struct _uiUserPointer {
-  mjuiState* state;
-  uiEventFn uiEvent;
-  uiLayoutFn uiLayout;
-  uiRenderFn uiRender;
-  uiDropFn   uiDrop;
-  double buffer2window;
-};
-typedef struct _uiUserPointer uiUserPointer;
-
-// Set internal and user-supplied UI callbacks in GLFW window.
-void uiSetCallback(GLFWwindow* wnd, mjuiState* state,
-                   uiEventFn uiEvent, uiLayoutFn uiLayout,
-                   uiRenderFn uiUserRender, uiDropFn uiUserDrop);
-
-// Clear UI callbacks in GLFW window.
-void uiClearCallback(GLFWwindow* wnd);
-
-// Compute suitable font scale.
-int uiFontScale(GLFWwindow* wnd);
-
-// Modify UI structure.
-void uiModify(GLFWwindow* wnd, mjUI* ui, mjuiState* state, mjrContext* con);
-
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif  // MUJOCO_UITOOLS_H_

unity/Runtime/Bindings/MjBindings.cs

@@ -404,6 +404,8 @@ public enum mjtEvent : int{
   mjEVENT_SCROLL = 4,
   mjEVENT_KEY = 5,
   mjEVENT_RESIZE = 6,
+  mjEVENT_REDRAW = 7,
+  mjEVENT_FILESDROP = 8,
 }
 public enum mjtCatBit : int{
   mjCAT_STATIC = 1,
@@ -2332,6 +2334,8 @@ public unsafe struct mjuiState_ {
   public int mouserect;
   public int dragrect;
   public int dragbutton;
+  public int dropcount;
+  public char** droppaths;
 }
 
 [StructLayout(LayoutKind.Sequential)]