Haroon Qureshi
1c2100e27c
Separate out the parts of the FilamentContext initialization that depends on the mjModel into a separate Init function. PiperOrigin-RevId: 890373341 Change-Id: I06b524668cd60dad804d437958f4f6606c46200b
90 lines
2.8 KiB
C++
90 lines
2.8 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
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#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
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#include <cstdint>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrender.h>
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#include <mujoco/mjvisualize.h>
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#include <mujoco/mujoco.h>
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#if defined(__cplusplus)
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extern "C" {
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#endif
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// IMPORTANT: This API should still be considered experimental and is likely
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// change frequently.
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typedef enum mjtGraphicsApi_ { // backend graphics API to use
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mjGFX_DEFAULT = 0, // default based on platform
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mjGFX_OPENGL, // OpenGL (desktop)
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mjGFX_VULKAN // Vulkan
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} mjtGraphicsApi;
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struct mjrFilamentConfig {
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// The native window handle into which we can render directly.
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void* native_window;
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// The initial width and height of the offscreen framebuffer.
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int width;
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int height;
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// The backend graphics API to use.
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int graphics_api;
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// Use software rendering even if the platform supports hardware rendering.
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bool force_software_rendering;
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};
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void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
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void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
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const mjrFilamentConfig* config);
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void mjrf_defaultContext(mjrContext* con);
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void mjrf_makeContext(const mjModel* m, mjrContext* con, int fontscale);
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void mjrf_freeContext(mjrContext* con);
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void mjrf_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
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void mjrf_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
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void mjrf_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
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void mjrf_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
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void mjrf_setBuffer(int framebuffer, mjrContext* con);
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void mjrf_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
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const mjrContext* con);
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double mjrf_getFrameRate(const mjrContext* con);
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uintptr_t mjrf_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
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int width, int height, int bpp,
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const mjrContext* con);
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void mjrf_updateGui(const mjrContext* con);
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#if defined(__cplusplus)
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} // extern "C"
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#endif
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#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
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