Format header to conform to style guide.

Also moves some types to the mjrender.h header.

PiperOrigin-RevId: 929189125
Change-Id: I19e5598210898c0defb663c60d7ecfb9a19bcd38

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