Haroon Qureshi
ef8e6802ef
Initialize the EGL context in the Renderer when using the classic rendering engine with no window. PiperOrigin-RevId: 864884976 Change-Id: Ic6cc4637855a361e41f3bfb4b738c012ec93711f
111 lines
3.1 KiB
C++
111 lines
3.1 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_PLATFORM_WINDOW_H_
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#define MUJOCO_SRC_EXPERIMENTAL_PLATFORM_WINDOW_H_
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#include <cstddef>
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#include <span>
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#include <string>
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#include <string_view>
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#include "experimental/platform/renderer_backend.h"
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#include <SDL_video.h>
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#include <SDL_render.h>
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namespace mujoco::platform {
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// Platform-independent window abstraction using SDL2.
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//
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// Initializes the SDL2 and ImGui libraries, creates/owns the native window, and
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// handles events from the window.
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class Window {
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public:
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struct Config {
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RendererBackend renderer_backend = RendererBackend::ClassicOpenGl;
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bool enable_keyboard = true;
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bool load_fonts = true;
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bool offscreen_mode = false;
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};
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Window(std::string_view title, int width, int height, Config config);
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~Window();
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Window(const Window&) = delete;
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Window& operator=(const Window&) = delete;
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// The status of the window.
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enum Status {
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kRunning,
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kQuitting,
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};
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// Processes all pendings window events and prepares ImGui for input handling
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// and GUI rendering. Returns the status of the window.
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Status NewFrame();
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// Finalizes ImGui input handling. Must call NewFrame first.
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void EndFrame();
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// Swaps and presents the window buffer.
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void Present(std::span<const std::byte> pixels = {});
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// Sets the title of the window.
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void SetTitle(std::string_view title);
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// Returns information related to the current size of the window.
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int GetWidth() const { return width_; }
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int GetHeight() const { return height_; }
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float GetScale() const { return scale_; }
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float GetAspectRatio() const {
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return height_ > 0
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? static_cast<float>(width_) / static_cast<float>(height_)
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: 1.0f;
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}
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// Returns the path to a file that was dropped on the window. Once called,
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// the value will be cleared until the next time a file is dropped.
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std::string GetDropFile();
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// Returns true if the window is in offscreen mode.
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bool IsOffscreenMode() const;
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// Enables window resizing.
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void EnableWindowResizing();
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// Disables window resizing.
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void DisableWindowResizing();
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// Returns the handle to the underlying native window.
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void* GetNativeWindowHandle() { return native_window_; }
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private:
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void InitOffscreenEglContext();
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int width_ = 0;
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int height_ = 0;
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float scale_ = 1.0f;
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Config config_;
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void* native_window_ = nullptr;
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SDL_Window* sdl_window_ = nullptr;
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SDL_Renderer* sdl_renderer_ = nullptr;
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bool should_exit_ = false;
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std::string drop_file_;
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};
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} // namespace mujoco::platform
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#endif // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_WINDOW_H_
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