Format header to conform to style guide.

Also moves some types to the mjrender.h header.

PiperOrigin-RevId: 929189125
Change-Id: I19e5598210898c0defb663c60d7ecfb9a19bcd38

include/mujoco/mjrender.h

@@ -15,7 +15,8 @@
 #ifndef MUJOCO_MJRENDER_H_
 #define MUJOCO_MJRENDER_H_
 
-#include <mujoco/mjmodel.h>
+#include <mujoco/mjtype.h>
+#include <mujoco/mjvisualize.h>
 
 #if defined(__cplusplus)
 extern "C" {
@@ -44,11 +45,13 @@ typedef enum mjtFramebuffer_ {    // OpenGL framebuffer option
   mjFB_OFFSCREEN                  // offscreen buffer
 } mjtFramebuffer;
 
+
 typedef enum mjtDepthMap_ {       // depth mapping for `mjr_readPixels`
   mjDEPTH_ZERONEAR    = 0,        // standard depth map; 0: znear, 1: zfar
   mjDEPTH_ZEROFAR     = 1         // reversed depth map; 1: znear, 0: zfar
 } mjtDepthMap;
 
+
 typedef enum mjtFontScale_ {      // font scale, used at context creation
   mjFONTSCALE_50      = 50,       // 50% scale, suitable for low-res rendering
   mjFONTSCALE_100     = 100,      // normal scale, suitable in the absence of DPI scaling
@@ -66,6 +69,46 @@ typedef enum mjtFont_ {           // font type, used at each text operation
 } 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)
@@ -75,6 +118,21 @@ struct mjrRect_ {                 // OpenGL rectangle
 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;
+
+
+// alias non-rendering types into mjr namespace
+typedef mjtTexture mjrSamplerType;
+typedef mjtColorSpace mjrColorSpace;
+typedef mjtLightType mjrLightType;
+typedef mjvGLCamera mjrCamera;
+
+
 //---------------------------------- mjrContext ----------------------------------------------------
 
 struct mjrContext_ {                // custom OpenGL context