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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 | // Copyright 2023 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 MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
#define MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
#include <utility>
#include <mujoco/mujoco.h>
namespace mujoco {
class PlatformUIAdapter {
public:
virtual ~PlatformUIAdapter() = default;
inline mjuiState& state() { return state_; }
inline const mjuiState& state() const { return state_; }
inline mjrContext& mjr_context() { return con_; }
inline const mjrContext& mjr_context() const { return con_; }
inline void SetEventCallback(void (*event_callback)(mjuiState*)) {
event_callback_ = event_callback;
}
inline void SetLayoutCallback(void (*layout_callback)(mjuiState*)) {
layout_callback_ = layout_callback;
}
// Optionally overridable function to (re)create an mjrContext for an mjModel
virtual bool RefreshMjrContext(const mjModel* m, int fontscale);
virtual bool EnsureContextSize();
// Pure virtual functions to be implemented by individual adapters
virtual std::pair<double, double> GetCursorPosition() const = 0;
virtual double GetDisplayPixelsPerInch() const = 0;
virtual std::pair<int, int> GetFramebufferSize() const = 0;
virtual std::pair<int, int> GetWindowSize() const = 0;
virtual bool IsGPUAccelerated() const = 0;
virtual void PollEvents() = 0;
virtual void SetClipboardString(const char* text) = 0;
virtual void SetVSync(bool enabled) = 0;
virtual void SetWindowTitle(const char* title) = 0;
virtual bool ShouldCloseWindow() const = 0;
virtual void SwapBuffers() = 0;
virtual void ToggleFullscreen() = 0;
virtual bool IsLeftMouseButtonPressed() const = 0;
virtual bool IsMiddleMouseButtonPressed() const = 0;
virtual bool IsRightMouseButtonPressed() const = 0;
virtual bool IsAltKeyPressed() const = 0;
virtual bool IsCtrlKeyPressed() const = 0;
virtual bool IsShiftKeyPressed() const = 0;
virtual bool IsMouseButtonDownEvent(int act) const = 0;
virtual bool IsKeyDownEvent(int act) const = 0;
virtual int TranslateKeyCode(int key) const = 0;
virtual mjtButton TranslateMouseButton(int button) const = 0;
protected:
PlatformUIAdapter();
void FreeMjrContext();
// Event handlers
void OnFilesDrop(int count, const char** paths);
virtual void OnKey(int key, int scancode, int act);
void OnMouseButton(int button, int act);
void OnMouseMove(double x, double y);
void OnScroll(double xoffset, double yoffset);
void OnWindowRefresh();
void OnWindowResize(int width, int height);
mjuiState state_;
int last_key_;
void (*event_callback_)(mjuiState*);
void (*layout_callback_)(mjuiState*);
mjrContext con_;
const mjModel* last_model_ = nullptr;
int last_fontscale_ = -1;
private:
void UpdateMjuiState();
};
} // namespace mujoco
#endif // MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
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