178 lines
7.9 KiB
C
178 lines
7.9 KiB
C
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// Copyright 2021 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_MJRENDER_H_
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#define MUJOCO_MJRENDER_H_
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#include <mujoco/mjmodel.h>
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#if defined(__cplusplus)
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extern "C" {
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#endif
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#define mjNAUX 10 // number of auxiliary buffers
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#define mjMAXTEXTURE 1000 // maximum number of textures
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#define mjMAXMATERIAL 1000 // maximum number of materials with textures
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//---------------------------------- primitive types (mjt) -----------------------------------------
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typedef enum mjtGridPos_ { // grid position for overlay
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mjGRID_TOPLEFT = 0, // top left
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mjGRID_TOPRIGHT, // top right
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mjGRID_BOTTOMLEFT, // bottom left
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mjGRID_BOTTOMRIGHT, // bottom right
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mjGRID_TOP, // top center
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mjGRID_BOTTOM, // bottom center
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mjGRID_LEFT, // left center
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mjGRID_RIGHT // right center
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} mjtGridPos;
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typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
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mjFB_WINDOW = 0, // default/window buffer
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mjFB_OFFSCREEN // offscreen buffer
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} mjtFramebuffer;
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typedef enum mjtDepthMap_ { // depth mapping for `mjr_readPixels`
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mjDEPTH_ZERONEAR = 0, // standard depth map; 0: znear, 1: zfar
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mjDEPTH_ZEROFAR = 1 // reversed depth map; 1: znear, 0: zfar
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} mjtDepthMap;
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typedef enum mjtFontScale_ { // font scale, used at context creation
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mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
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mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
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mjFONTSCALE_150 = 150, // 150% scale
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mjFONTSCALE_200 = 200, // 200% scale
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mjFONTSCALE_250 = 250, // 250% scale
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mjFONTSCALE_300 = 300 // 300% scale
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} mjtFontScale;
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typedef enum mjtFont_ { // font type, used at each text operation
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mjFONT_NORMAL = 0, // normal font
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mjFONT_SHADOW, // normal font with shadow (for higher contrast)
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mjFONT_BIG // big font (for user alerts)
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} mjtFont;
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struct mjrRect_ { // OpenGL rectangle
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int left; // left (usually 0)
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int bottom; // bottom (usually 0)
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int width; // width (usually buffer width)
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int height; // height (usually buffer height)
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};
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typedef struct mjrRect_ mjrRect;
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//---------------------------------- mjrContext ----------------------------------------------------
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struct mjrContext_ { // custom OpenGL context
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// parameters copied from mjVisual
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float lineWidth; // line width for wireframe rendering
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float shadowClip; // clipping radius for directional lights
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float shadowScale; // fraction of light cutoff for spot lights
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float fogStart; // fog start = stat.extent * vis.map.fogstart
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float fogEnd; // fog end = stat.extent * vis.map.fogend
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float fogRGBA[4]; // fog rgba
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int shadowSize; // size of shadow map texture
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int offWidth; // width of offscreen buffer
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int offHeight; // height of offscreen buffer
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int offSamples; // number of offscreen buffer multisamples
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// parameters specified at creation
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int fontScale; // font scale
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int auxWidth[mjNAUX]; // auxiliary buffer width
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int auxHeight[mjNAUX]; // auxiliary buffer height
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int auxSamples[mjNAUX]; // auxiliary buffer multisamples
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// offscreen rendering objects
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unsigned int offFBO; // offscreen framebuffer object
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unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
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unsigned int offColor; // offscreen color buffer
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unsigned int offColor_r; // offscreen color buffer for resolving multisamples
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unsigned int offDepthStencil; // offscreen depth and stencil buffer
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unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for multisamples
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// shadow rendering objects
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unsigned int shadowFBO; // shadow map framebuffer object
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unsigned int shadowTex; // shadow map texture
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// auxiliary buffers
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unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
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unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
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unsigned int auxColor[mjNAUX]; // auxiliary color buffer
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unsigned int auxColor_r[mjNAUX]; // auxiliary color buffer for resolving
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// materials with textures
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int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
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int mat_texuniform[mjMAXMATERIAL]; // uniform cube mapping
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float mat_texrepeat[mjMAXMATERIAL*2]; // texture repetition for 2d mapping
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// texture objects and info
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int ntexture; // number of allocated textures
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int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
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unsigned int texture[mjMAXTEXTURE]; // texture names
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// displaylist starting positions
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unsigned int basePlane; // all planes from model
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unsigned int baseMesh; // all meshes from model
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unsigned int baseHField; // all height fields from model
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unsigned int baseBuiltin; // all builtin geoms, with quality from model
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unsigned int baseFontNormal; // normal font
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unsigned int baseFontShadow; // shadow font
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unsigned int baseFontBig; // big font
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// displaylist ranges
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int rangePlane; // all planes from model
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int rangeMesh; // all meshes from model
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int rangeHField; // all hfields from model
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int rangeBuiltin; // all builtin geoms, with quality from model
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int rangeFont; // all characters in font
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// skin VBOs
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int nskin; // number of skins
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unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
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unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
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unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
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unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
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// character info
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int charWidth[127]; // character widths: normal and shadow
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int charWidthBig[127]; // chacarter widths: big
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int charHeight; // character heights: normal and shadow
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int charHeightBig; // character heights: big
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// capabilities
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int glInitialized; // is OpenGL initialized
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int windowAvailable; // is default/window framebuffer available
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int windowSamples; // number of samples for default/window framebuffer
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int windowStereo; // is stereo available for default/window framebuffer
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int windowDoublebuffer; // is default/window framebuffer double buffered
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// framebuffer
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int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
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// pixel output format
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int readPixelFormat; // default color pixel format for mjr_readPixels
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// depth output format
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int readDepthMap; // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
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};
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typedef struct mjrContext_ mjrContext;
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#if defined(__cplusplus)
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}
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#endif
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#endif // MUJOCO_MJRENDER_H_
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