Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
70 lines
2.0 KiB
C
70 lines
2.0 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_SRC_RENDER_RENDER_CONTEXT_H_
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#define MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrender.h>
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#if defined(__cplusplus)
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extern "C" {
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#endif
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// builtin display list addresses (relative to base)
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enum {
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mjrSPHERE = 0,
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mjrSPHERETOP,
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mjrSPHEREBOTTOM,
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mjrCYLINDER,
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mjrCYLINDEROPEN,
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mjrHAZE,
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mjrBOX,
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mjrCONE,
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mjrNUM
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};
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// set default mjrContext
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MJAPI void mjr_defaultContext(mjrContext* con);
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// allocate resources in custom OpenGL context; fontscale is mjtFontScale
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MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
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// Change font of existing context.
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MJAPI void mjr_changeFont(int fontscale, mjrContext* con);
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// Add Aux buffer with given index to context; free previous Aux buffer.
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MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
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// free resources in custom OpenGL context, set to default
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MJAPI void mjr_freeContext(mjrContext* con);
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// (re) upload texture to GPU
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MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
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// (re) upload mesh to GPU
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MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
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// (re) upload height field to GPU
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MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
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#if defined(__cplusplus)
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}
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#endif
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#endif // MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_
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