File size: 2,173 Bytes
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 | // 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 MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_
#define MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_
#include <mujoco/mjdata.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjrender.h>
#if defined(__cplusplus)
extern "C" {
#endif
// builtin display list addresses (relative to base)
enum {
mjrSPHERE = 0,
mjrSPHERETOP,
mjrSPHEREBOTTOM,
mjrCYLINDER,
mjrCYLINDEROPEN,
mjrHAZE,
mjrBOX,
mjrCONE,
mjrNUM
};
// set default mjrContext
MJAPI void mjr_defaultContext(mjrContext* con);
// allocate resources in custom OpenGL context; fontscale is mjtFontScale
MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
// Change font of existing context.
MJAPI void mjr_changeFont(int fontscale, mjrContext* con);
// Add Aux buffer with given index to context; free previous Aux buffer.
MJAPI void mjr_addAux(int index, int width, int height, int samples, mjrContext* con);
// free resources in custom OpenGL context, set to default
MJAPI void mjr_freeContext(mjrContext* con);
// resize offscreen renderbuffer
MJAPI void mjr_resizeOffscreen(int offwidth, int offheight, mjrContext* con);
// (re) upload texture to GPU
MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
// (re) upload mesh to GPU
MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
// (re) upload height field to GPU
MJAPI void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
#if defined(__cplusplus)
}
#endif
#endif // MUJOCO_SRC_RENDER_RENDER_CONTEXT_H_
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