Matija Kecman
9f3babd60c
PiperOrigin-RevId: 895832492 Change-Id: I6cc56b0e4b002b2998579cde95f4b88dfbd88184
78 lines
3.6 KiB
C++
78 lines
3.6 KiB
C++
// Copyright 2026 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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#include "experimental/platform/ux/plugin.h"
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#include <functional>
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#include <string_view>
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#include <mujoco/mujoco.h>
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#include "engine/engine_global_table.h"
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using GuiPlugin = mujoco::platform::GuiPlugin;
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using ModelPlugin = mujoco::platform::ModelPlugin;
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using KeyHandlerPlugin = mujoco::platform::KeyHandlerPlugin;
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using SpecEditorPlugin = mujoco::platform::SpecEditorPlugin;
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namespace mujoco::platform {
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template <typename T>
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void RegisterPlugin(T plugin) {
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if (plugin.name == nullptr || plugin.name[0] == '\0') {
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mju_error("Plugin name must not be empty or null.");
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}
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GlobalTable<T>::GetSingleton().AppendIfUnique(plugin);
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}
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template <typename T>
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void ForEachPlugin(const std::function<void(T*)>& fn) {
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auto& table = mujoco::GlobalTable<T>::GetSingleton();
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for (int i = 0; i < table.count(); ++i) {
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const T* plugin = table.GetAtSlot(i);
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fn(const_cast<T*>(plugin));
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}
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}
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} // namespace mujoco::platform
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#define MUJOCO_SPECIALIZE_PLUGIN(PLUGIN, NAME) \
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template <> \
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const char* mujoco::GlobalTable<PLUGIN>::HumanReadableTypeName() { \
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return NAME; \
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} \
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template <> \
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std::string_view mujoco::GlobalTable<PLUGIN>::ObjectKey(const PLUGIN& p) { \
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return std::string_view(p.name); \
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} \
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template <> \
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bool mujoco::GlobalTable<PLUGIN>::ObjectEqual(const PLUGIN& p1, \
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const PLUGIN& p2) { \
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return CaseInsensitiveEqual(p1.name, p2.name); \
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} \
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template <> \
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bool mujoco::GlobalTable<PLUGIN>::CopyObject(PLUGIN& dst, const PLUGIN& src, \
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ErrorMessage& err) { \
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dst = src; \
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return true; \
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} \
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namespace mujoco::platform { \
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template void RegisterPlugin<PLUGIN>(PLUGIN plugin); \
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template void ForEachPlugin<PLUGIN>(const std::function<void(PLUGIN*)>& fn); \
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}
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MUJOCO_SPECIALIZE_PLUGIN(GuiPlugin, "gui plugin");
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MUJOCO_SPECIALIZE_PLUGIN(ModelPlugin, "model plugin");
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MUJOCO_SPECIALIZE_PLUGIN(KeyHandlerPlugin, "key handler plugin");
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MUJOCO_SPECIALIZE_PLUGIN(SpecEditorPlugin, "spec editor plugin");
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