Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
85 lines
3.5 KiB
C
85 lines
3.5 KiB
C
// Copyright 2021 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 THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL2_
|
|
#define THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL2_
|
|
|
|
#include <mujoco/mjexport.h>
|
|
#include <mujoco/mjrender.h>
|
|
#include <mujoco/mjvisualize.h>
|
|
|
|
#if defined(__cplusplus)
|
|
extern "C" {
|
|
#endif
|
|
|
|
// Make con->currentBuffer current again.
|
|
MJAPI void mjr_restoreBuffer(const mjrContext* con);
|
|
|
|
// actual draw text, do not initialize OpenGL options
|
|
void mjr_textActual(int font, const char* txt, const mjrContext* con,
|
|
float x, float y, float z, float r, float g, float b);
|
|
|
|
// set OpenGL framebuffer for rendering: mjFB_WINDOW or mjFB_OFFSCREEN
|
|
// if only one buffer is available, set that buffer and ignore framebuffer argument
|
|
MJAPI void mjr_setBuffer(int framebuffer, mjrContext* con);
|
|
|
|
// read pixels from current OpenGL framebuffer to client buffer
|
|
// viewport is in OpenGL framebuffer; client buffer starts at (0,0)
|
|
MJAPI void mjr_readPixels(unsigned char* rgb, float* depth,
|
|
mjrRect viewport, const mjrContext* con);
|
|
|
|
// draw pixels from client buffer to current OpenGL framebuffer
|
|
// viewport is in OpenGL framebuffer; client buffer starts at (0,0)
|
|
MJAPI void mjr_drawPixels(const unsigned char* rgb, const float* depth,
|
|
mjrRect viewport, const mjrContext* con);
|
|
|
|
// blit from src viewpoint in current framebuffer to dst viewport in other framebuffer
|
|
// if src, dst have different size and flg_depth==0, color is interpolated with GL_LINEAR
|
|
MJAPI void mjr_blitBuffer(mjrRect src, mjrRect dst,
|
|
int flg_color, int flg_depth, const mjrContext* con);
|
|
|
|
// Set Aux buffer for custom OpenGL rendering (call restoreBuffer when done).
|
|
MJAPI void mjr_setAux(int index, const mjrContext* con);
|
|
|
|
// Blit from Aux buffer to con->currentBuffer.
|
|
MJAPI void mjr_blitAux(int index, mjrRect src, int left, int bottom,
|
|
const mjrContext* con);
|
|
|
|
// draw text at (x,y) in relative coordinates; font is mjtFont
|
|
MJAPI void mjr_text(int font, const char* txt, const mjrContext* con,
|
|
float x, float y, float r, float g, float b);
|
|
|
|
// draw text overlay; font is mjtFont; gridpos is mjtGridPos
|
|
MJAPI void mjr_overlay(int font, int gridpos, mjrRect viewport,
|
|
const char* overlay, const char* overlay2, const mjrContext* con);
|
|
|
|
// get maximum viewport for active buffer
|
|
MJAPI mjrRect mjr_maxViewport(const mjrContext* con);
|
|
|
|
// draw rectangle
|
|
MJAPI void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a);
|
|
|
|
// draw rectangle with centered text
|
|
MJAPI void mjr_label(mjrRect viewport, int font, const char* txt,
|
|
float r, float g, float b, float a, float rt, float gt, float bt,
|
|
const mjrContext* con);
|
|
|
|
// draw 2D figure
|
|
MJAPI void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con);
|
|
|
|
#if defined(__cplusplus)
|
|
}
|
|
#endif
|
|
#endif // THIRD_PARTY_MUJOCO_SRC_RENDER_RENDER_GL2_
|