Format header to conform to style guide.

Also moves some types to the mjrender.h header.

PiperOrigin-RevId: 929189125
Change-Id: I19e5598210898c0defb663c60d7ecfb9a19bcd38

python/mujoco/introspect/enums.py

@@ -947,6 +947,61 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjFONT_BIG', 2),
          ]),
      )),
+    ('mjrPixelFormat',
+     EnumDecl(
+         name='mjrPixelFormat',
+         declname='enum mjrPixelFormat_',
+         values=dict([
+             ('mjPIXEL_FORMAT_UNKNOWN', 0),
+             ('mjPIXEL_FORMAT_R8', 1),
+             ('mjPIXEL_FORMAT_RGB8', 2),
+             ('mjPIXEL_FORMAT_RGBA8', 3),
+             ('mjPIXEL_FORMAT_R32F', 4),
+             ('mjPIXEL_FORMAT_DEPTH32F', 5),
+             ('mjPIXEL_FORMAT_KTX', 6),
+         ]),
+     )),
+    ('mjrVertexAttributeUsage',
+     EnumDecl(
+         name='mjrVertexAttributeUsage',
+         declname='enum mjrVertexAttributeUsage_',
+         values=dict([
+             ('mjVERTEX_ATTRIBUTE_USAGE_POSITION', 0),
+             ('mjVERTEX_ATTRIBUTE_USAGE_NORMAL', 1),
+             ('mjVERTEX_ATTRIBUTE_USAGE_TANGENTS', 2),
+             ('mjVERTEX_ATTRIBUTE_USAGE_UV', 3),
+             ('mjVERTEX_ATTRIBUTE_USAGE_COLOR', 4),
+         ]),
+     )),
+    ('mjrVertexAttributeType',
+     EnumDecl(
+         name='mjrVertexAttributeType',
+         declname='enum mjrVertexAttributeType_',
+         values=dict([
+             ('mjVERTEX_ATTRIBUTE_TYPE_FLOAT2', 0),
+             ('mjVERTEX_ATTRIBUTE_TYPE_FLOAT3', 1),
+             ('mjVERTEX_ATTRIBUTE_TYPE_FLOAT4', 2),
+             ('mjVERTEX_ATTRIBUTE_TYPE_UBYTE4', 3),
+         ]),
+     )),
+    ('mjrIndexType',
+     EnumDecl(
+         name='mjrIndexType',
+         declname='enum mjrIndexType_',
+         values=dict([
+             ('mjINDEX_TYPE_U16', 0),
+             ('mjINDEX_TYPE_U32', 1),
+         ]),
+     )),
+    ('mjrMeshPrimitiveType',
+     EnumDecl(
+         name='mjrMeshPrimitiveType',
+         declname='enum mjrMeshPrimitiveType_',
+         values=dict([
+             ('mjMESH_PRIMITIVE_TYPE_TRIANGLES', 0),
+             ('mjMESH_PRIMITIVE_TYPE_LINES', 1),
+         ]),
+     )),
     ('mjtButton',
      EnumDecl(
          name='mjtButton',

python/mujoco/introspect/structs.py

@@ -10840,6 +10840,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              ),
          ),
      )),
+    ('mjrVertexAttribute',
+     StructDecl(
+         name='mjrVertexAttribute',
+         declname='struct mjrVertexAttribute_',
+         fields=(
+             StructFieldDecl(
+                 name='bytes',
+                 type=PointerType(
+                     inner_type=ValueType(name='void', is_const=True),
+                 ),
+                 doc='vertex data',
+             ),
+             StructFieldDecl(
+                 name='usage',
+                 type=ValueType(name='int'),
+                 doc='mjrVertexAttributeUsage; e.g. position, normal, etc.',
+             ),
+             StructFieldDecl(
+                 name='type',
+                 type=ValueType(name='int'),
+                 doc='mjrVertexAttributeType; e.g. float3, ubyte4, etc.',
+             ),
+         ),
+     )),
     ('mjrContext',
      StructDecl(
          name='mjrContext',

python/mujoco/raw.h

@@ -76,6 +76,7 @@ using MjWarningStat = ::mjWarningStat;
 // From mjrender.h
 using MjrRect = ::mjrRect;
 using MjrContext = ::mjrContext;
+using MjrVertexAttribute = ::mjrVertexAttribute;
 
 // From mjvisualize.h
 using MjvPerturb = ::mjvPerturb;

python/mujoco/structs.cc

@@ -959,6 +959,23 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(height);
 #undef X
 
+  // ==================== MJRVERTEXATTRIBUTE ===================================
+  py::class_<raw::MjrVertexAttribute> mjrVertexAttribute(m, "MjrVertexAttribute");
+  mjrVertexAttribute.def(py::init([](int usage, int type) {
+                           return raw::MjrVertexAttribute{nullptr, usage, type};
+                         }),
+                         py::arg("usage") = 0, py::arg("type") = 0);
+  mjrVertexAttribute.def("__copy__",
+              [](const raw::MjrVertexAttribute& other) { return raw::MjrVertexAttribute(other); });
+  mjrVertexAttribute.def("__deepcopy__", [](const raw::MjrVertexAttribute& other, py::dict) {
+    return raw::MjrVertexAttribute(other);
+  });
+  DefineStructFunctions(mjrVertexAttribute);
+#define X(var) mjrVertexAttribute.def_readwrite(#var, &raw::MjrVertexAttribute::var)
+  X(usage);
+  X(type);
+#undef X
+
   // ==================== MJVPERTURB ===========================================
   py::class_<MjvPerturbWrapper> mjvPerturb(m, "MjvPerturb");
   mjvPerturb.def(py::init<>());