| // Copyright 2022 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. | |
| extern "C" { | |
| // set default plugin definition | |
| MJAPI void mjp_defaultPlugin(mjpPlugin* plugin); | |
| // globally register a plugin (thread-safe), return new slot id | |
| MJAPI int mjp_registerPlugin(const mjpPlugin* plugin); | |
| // globally register a resource provider (thread-safe), return new slot id | |
| MJAPI int mjp_registerResourceProvider(const mjpResourceProvider* provider); | |
| // return the number of globally registered plugins | |
| MJAPI int mjp_pluginCount(void); | |
| // return the number of globally registered resource providers | |
| MJAPI int mjp_resourceProviderCount(void); | |
| // look up a plugin by name, optionally also get its registered slot number | |
| MJAPI const mjpPlugin* mjp_getPlugin(const char* name, int* slot); | |
| // set default resource provider definition | |
| MJAPI void mjp_defaultResourceProvider(mjpResourceProvider* provider); | |
| // look up a resource provider that matches its prefix against the given resource name | |
| MJAPI const mjpResourceProvider* mjp_getResourceProvider(const char* resource_name); | |
| // look up a plugin by slot number | |
| MJAPI const mjpPlugin* mjp_getPluginAtSlot(int slot); | |
| // look up a resource provider by slot number | |
| MJAPI const mjpResourceProvider* mjp_getResourceProviderAtSlot(int slot); | |
| // return a config attribute of a plugin instance | |
| // NULL: invalid plugin instance ID or attribute name | |
| MJAPI const char* mj_getPluginConfig(const mjModel* m, int plugin_id, const char* attrib); | |
| // load plugins from a dynamic library | |
| MJAPI void mj_loadPluginLibrary(const char* path); | |
| // scan a directory and load all dynamic libraries | |
| MJAPI void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback); | |
| // ================================================================================================= | |
| // MuJoCo-internal functions beyond this point. | |
| // "Unsafe" suffix indicates that improper use of these functions may result in data races. | |
| // | |
| // The unsafe functions assume that mjp_pluginCount has already been called, and that all plugins | |
| // up to `count` have been completely written into the global table. | |
| // ================================================================================================= | |
| // internal version of mjp_registerResourceProvider without prechecks on reserved prefixes | |
| MJAPI int mjp_registerResourceProviderInternal(const mjpResourceProvider* provider); | |
| // look up a plugin by name, assuming that mjp_pluginCount has already been called | |
| const mjpPlugin* mjp_getPluginUnsafe(const char* name, int* slot, int nslot); | |
| // look up a plugin by slot number, assuming that mjp_pluginCount has already been called | |
| const mjpPlugin* mjp_getPluginAtSlotUnsafe(int slot, int nslot); | |
| } | |