Levi Burner
65d5ade426
Fix name of glew library Move simulate to new directory and refactor to use C++ conventions Wrap simulate in mujoco namespace fix namespaces, convert struct to class, use std::lock_guard use GetMutex to better handle destruction ordering rename mjSimulate to Simulate nit: space before public and typo move startup print use nullptr instead of NULL use GetInstance() to get simulate object convert init to default constructor
66 lines
1.8 KiB
C
66 lines
1.8 KiB
C
// Copyright 2021 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_UITOOLS_H_
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#define MUJOCO_UITOOLS_H_
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#include <GLFW/glfw3.h>
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#include <mujoco/mujoco.h>
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// this is a C-API
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#if defined(__cplusplus)
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extern "C" {
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#endif
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// User-supplied callback function types.
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typedef void (*uiEventFn)(mjuiState* state);
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typedef void (*uiLayoutFn)(mjuiState* state);
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typedef void (*uiRenderFn)(mjuiState* state);
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typedef void (*uiDropFn) (mjuiState* state, int count, const char** paths);
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// Container for GLFW window pointer.
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struct _uiUserPointer {
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mjuiState* state;
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uiEventFn uiEvent;
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uiLayoutFn uiLayout;
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uiRenderFn uiRender;
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uiDropFn uiDrop;
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double buffer2window;
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};
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typedef struct _uiUserPointer uiUserPointer;
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// Set internal and user-supplied UI callbacks in GLFW window.
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void uiSetCallback(GLFWwindow* wnd, mjuiState* state,
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uiEventFn uiEvent, uiLayoutFn uiLayout,
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uiRenderFn uiUserRender, uiDropFn uiUserDrop);
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// Clear UI callbacks in GLFW window.
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void uiClearCallback(GLFWwindow* wnd);
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// Compute suitable font scale.
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int uiFontScale(GLFWwindow* wnd);
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// Modify UI structure.
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void uiModify(GLFWwindow* wnd, mjUI* ui, mjuiState* state, mjrContext* con);
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#if defined(__cplusplus)
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}
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#endif
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#endif // MUJOCO_UITOOLS_H_
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