Format header to conform to style guide.

Also moves some types to the mjrender.h header.

PiperOrigin-RevId: 929189125
Change-Id: I19e5598210898c0defb663c60d7ecfb9a19bcd38

doc/APIreference/APItypes.rst

@@ -10,7 +10,7 @@ MuJoCo defines a large number of types:
   - Enums used in :ref:`mjModel<tyModelEnums>`.
   - Enums used in :ref:`mjData<tyDataEnums>`.
   - Enums for abstract :ref:`visualization<tyVisEnums>`.
-  - Enums used by the :ref:`openGL renderer<tyRenderEnums>`.
+  - Enums used by the :ref:`renderer<tyRenderEnums>`.
   - Enums used by the :ref:`mjUI<tyUIEnums>` user interface package.
   - Enums used by :ref:`engine plugins<tyPluginEnums>`.
   - Enums used for :ref:`procedural model manipulation<tySpecEnums>`.
@@ -31,7 +31,7 @@ MuJoCo defines a large number of types:
   - :ref:`Auxiliary struct types<tyAuxStructure>`, also used by the engine.
   - Structs for collecting :ref:`simulation statistics<tyStatStructure>`.
   - Structs for :ref:`abstract visualization<tyVisStructure>`.
-  - Structs used by the :ref:`openGL renderer<tyRenderStructure>`.
+  - Structs used by the :ref:`renderer<tyRenderStructure>`.
   - Structs used by the :ref:`UI framework<tyUIStructure>`.
   - Structs used for :ref:`procedural model manipulation<tySpecStructure>`.
   - Structs used by :ref:`engine plugins<tyPluginStructure>`.
@@ -705,6 +705,51 @@ These are the possible font types.
 
 .. mujoco-include:: mjtFont
 
+.. _mjrPixelFormat:
+
+mjrPixelFormat
+~~~~~~~~~~~~~~
+
+There are the possible values:
+
+.. mujoco-include:: mjrPixelFormat
+
+.. _mjrVertexAttributeUsage:
+
+mjrVertexAttributeUsage
+~~~~~~~~~~~~~~~~~~~~~~~
+
+There are the possible values:
+
+.. mujoco-include:: mjrVertexAttributeUsage
+
+.. _mjrVertexAttributeType:
+
+mjrVertexAttributeType
+~~~~~~~~~~~~~~~~~~~~~~
+
+There are the possible values:
+
+.. mujoco-include:: mjrVertexAttributeType
+
+.. _mjrIndexType:
+
+mjrIndexType
+~~~~~~~~~~~~
+
+There are the possible values:
+
+.. mujoco-include:: mjrIndexType
+
+.. _mjrMeshPrimitiveType:
+
+mjrMeshPrimitiveType
+~~~~~~~~~~~~~~~~~~~~
+
+There are the possible values:
+
+.. mujoco-include:: mjrMeshPrimitiveType
+
 
 .. _tyUIEnums:
 
@@ -1164,6 +1209,17 @@ This structure specifies a rectangle.
 .. mujoco-include:: mjrRect
 
 
+.. _mjrVertexAttribute:
+
+mjrVertexAttribute
+~~~~~~~~~~~~~~~~~~
+
+This structure specifies the attributes for a single vertex.
+
+.. mujoco-include:: mjrVertexAttribute
+
+
+
 .. _mjrContext:
 
 mjrContext

doc/includes/references.h

@@ -1359,6 +1359,36 @@ typedef enum mjtFont_ {           // font type, used at each text operation
   mjFONT_SHADOW,                  // normal font with shadow (for higher contrast)
   mjFONT_BIG                      // big font (for user alerts)
 } mjtFont;
+typedef enum mjrPixelFormat_ {    // pixel format for textures
+  mjPIXEL_FORMAT_UNKNOWN = 0,     // unknown/unspecified
+  mjPIXEL_FORMAT_R8,              // 1 channel, 8 bit
+  mjPIXEL_FORMAT_RGB8,            // 3 channels, 8 bits per channel
+  mjPIXEL_FORMAT_RGBA8,           // 4 channels, 8 bits per channel
+  mjPIXEL_FORMAT_R32F,            // 1 channel, 32 bit float
+  mjPIXEL_FORMAT_DEPTH32F,        // 1 channel, 32 bit float, for depth buffers
+  mjPIXEL_FORMAT_KTX,             // ktx compressed data
+} mjrPixelFormat;
+typedef enum mjrVertexAttributeUsage_ {   // usage/purpose of a vertex attribute
+  mjVERTEX_ATTRIBUTE_USAGE_POSITION = 0,  // vertex position
+  mjVERTEX_ATTRIBUTE_USAGE_NORMAL,        // vertex normal
+  mjVERTEX_ATTRIBUTE_USAGE_TANGENTS,      // vertex tangents
+  mjVERTEX_ATTRIBUTE_USAGE_UV,            // vertex texture coordinates
+  mjVERTEX_ATTRIBUTE_USAGE_COLOR,         // vertex color
+} mjrVertexAttributeUsage;
+typedef enum mjrVertexAttributeType_ {  // data format of a vertex attribute
+  mjVERTEX_ATTRIBUTE_TYPE_FLOAT2 = 0,   // 2D 32-bit float vector
+  mjVERTEX_ATTRIBUTE_TYPE_FLOAT3,       // 3D 32-bit float vector
+  mjVERTEX_ATTRIBUTE_TYPE_FLOAT4,       // 4D 32-bit float vector
+  mjVERTEX_ATTRIBUTE_TYPE_UBYTE4,       // 4D unsigned 8-bit byte vector
+} mjrVertexAttributeType;
+typedef enum mjrIndexType_ {  // data type of index buffer data
+  mjINDEX_TYPE_U16 = 0,       // 16-bit unsigned integer
+  mjINDEX_TYPE_U32,           // 32-bit unsigned integer
+} mjrIndexType;
+typedef enum mjrMeshPrimitiveType_ {    // type of mesh primitive
+  mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0,  // triangles
+  mjMESH_PRIMITIVE_TYPE_LINES,          // lines
+} mjrMeshPrimitiveType;
 struct mjrRect_ {                 // OpenGL rectangle
   int left;                       // left (usually 0)
   int bottom;                     // bottom (usually 0)
@@ -1366,6 +1396,12 @@ struct mjrRect_ {                 // OpenGL rectangle
   int height;                     // height (usually buffer height)
 };
 typedef struct mjrRect_ mjrRect;
+struct mjrVertexAttribute_ {      // vertex attribute format specification
+  const void* bytes;              // vertex data
+  int usage;                      // mjrVertexAttributeUsage; e.g. position, normal, etc.
+  int type;                       // mjrVertexAttributeType; e.g. float3, ubyte4, etc.
+};
+typedef struct mjrVertexAttribute_ mjrVertexAttribute;
 struct mjrContext_ {                // custom OpenGL context
   // parameters copied from mjVisual
   float lineWidth;                  // line width for wireframe rendering