102 lines
3.3 KiB
C++
102 lines
3.3 KiB
C++
// Copyright 2023 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_SIMULATE_PLATFORM_UI_ADAPTER_H_
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#define MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
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#include <utility>
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#include <mujoco/mujoco.h>
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namespace mujoco {
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class PlatformUIAdapter {
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public:
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virtual ~PlatformUIAdapter() = default;
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inline mjuiState& state() { return state_; }
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inline const mjuiState& state() const { return state_; }
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inline mjrContext& mjr_context() { return con_; }
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inline const mjrContext& mjr_context() const { return con_; }
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inline void SetEventCallback(void (*event_callback)(mjuiState*)) {
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event_callback_ = event_callback;
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}
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inline void SetLayoutCallback(void (*layout_callback)(mjuiState*)) {
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layout_callback_ = layout_callback;
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}
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// Optionally overridable function to (re)create an mjrContext for an mjModel
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virtual bool RefreshMjrContext(const mjModel* m, int fontscale);
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virtual bool EnsureContextSize();
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// Pure virtual functions to be implemented by individual adapters
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virtual std::pair<double, double> GetCursorPosition() const = 0;
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virtual double GetDisplayPixelsPerInch() const = 0;
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virtual std::pair<int, int> GetFramebufferSize() const = 0;
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virtual std::pair<int, int> GetWindowSize() const = 0;
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virtual bool IsGPUAccelerated() const = 0;
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virtual void PollEvents() = 0;
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virtual void SetClipboardString(const char* text) = 0;
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virtual void SetVSync(bool enabled) = 0;
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virtual void SetWindowTitle(const char* title) = 0;
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virtual bool ShouldCloseWindow() const = 0;
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virtual void SwapBuffers() = 0;
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virtual void ToggleFullscreen() = 0;
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virtual bool IsLeftMouseButtonPressed() const = 0;
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virtual bool IsMiddleMouseButtonPressed() const = 0;
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virtual bool IsRightMouseButtonPressed() const = 0;
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virtual bool IsAltKeyPressed() const = 0;
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virtual bool IsCtrlKeyPressed() const = 0;
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virtual bool IsShiftKeyPressed() const = 0;
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virtual bool IsMouseButtonDownEvent(int act) const = 0;
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virtual bool IsKeyDownEvent(int act) const = 0;
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virtual int TranslateKeyCode(int key) const = 0;
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virtual mjtButton TranslateMouseButton(int button) const = 0;
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protected:
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PlatformUIAdapter();
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void FreeMjrContext();
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// Event handlers
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void OnFilesDrop(int count, const char** paths);
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virtual void OnKey(int key, int scancode, int act);
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void OnMouseButton(int button, int act);
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void OnMouseMove(double x, double y);
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void OnScroll(double xoffset, double yoffset);
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void OnWindowRefresh();
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void OnWindowResize(int width, int height);
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mjuiState state_;
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int last_key_;
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void (*event_callback_)(mjuiState*);
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void (*layout_callback_)(mjuiState*);
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mjrContext con_;
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const mjModel* last_model_ = nullptr;
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int last_fontscale_ = -1;
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private:
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void UpdateMjuiState();
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};
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} // namespace mujoco
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#endif // MUJOCO_SIMULATE_PLATFORM_UI_ADAPTER_H_
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