// Copyright 2025 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_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_

#include <cstdint>

#include <mujoco/mjmodel.h>
#include <mujoco/mjrender.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h>

#if defined(__cplusplus)
extern "C" {
#endif

// IMPORTANT: This API should still be considered experimental and is likely
// change frequently.

typedef enum mjtGraphicsApi_ {  // backend graphics API to use
  mjGFX_DEFAULT        = 0,     // default based on platform
  mjGFX_OPENGL,                 // OpenGL (desktop)
  mjGFX_VULKAN                  // Vulkan
} mjtGraphicsApi;

struct mjrFilamentConfig {
  // The native window handle into which we can render directly.
  void* native_window;

  // The initial width and height of the offscreen framebuffer.
  int width;
  int height;

  // The backend graphics API to use.
  int graphics_api;

  // Use software rendering even if the platform supports hardware rendering.
  bool force_software_rendering;
};

void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);

void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
                              const mjrFilamentConfig* config);

void mjrf_defaultContext(mjrContext* con);

void mjrf_makeContext(const mjModel* m, mjrContext* con, int fontscale);

void mjrf_freeContext(mjrContext* con);

void mjrf_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);

void mjrf_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);

void mjrf_uploadTexture(const mjModel* m, const mjrContext* con, int texid);

void mjrf_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);

void mjrf_setBuffer(int framebuffer, mjrContext* con);

void mjrf_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
                     const mjrContext* con);

double mjrf_getFrameRate(const mjrContext* con);

uintptr_t mjrf_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
                              int width, int height, int bpp,
                              const mjrContext* con);

void mjrf_updateGui(const mjrContext* con);

#if defined(__cplusplus)
}  // extern "C"
#endif

#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_