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// 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_SIMULATE_UITOOLS_H_
#define MUJOCO_SIMULATE_UITOOLS_H_
#include <GLFW/glfw3.h>
#include <mujoco/mujoco.h>
// this is a C-API
#if defined(__cplusplus)
extern "C" {
#endif
// User-supplied callback function types.
typedef void (*uiEventFn)(mjuiState* state);
typedef void (*uiLayoutFn)(mjuiState* state);
typedef void (*uiRenderFn)(mjuiState* state);
typedef void (*uiDropFn) (mjuiState* state, int count, const char** paths);
// Container for GLFW window pointer.
struct _uiUserPointer {
mjuiState* state;
uiEventFn uiEvent;
uiLayoutFn uiLayout;
uiRenderFn uiRender;
uiDropFn uiDrop;
double buffer2window;
};
typedef struct _uiUserPointer uiUserPointer;
// Set internal and user-supplied UI callbacks in GLFW window.
void uiSetCallback(GLFWwindow* wnd, mjuiState* state,
uiEventFn uiEvent, uiLayoutFn uiLayout,
uiRenderFn uiUserRender, uiDropFn uiUserDrop);
// Clear UI callbacks in GLFW window.
void uiClearCallback(GLFWwindow* wnd);
// Compute suitable font scale.
int uiFontScale(GLFWwindow* wnd);
// Modify UI structure.
void uiModify(GLFWwindow* wnd, mjUI* ui, mjuiState* state, mjrContext* con);
#if defined(__cplusplus)
}
#endif
#endif // MUJOCO_UITOOLS_H_
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