79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
// Copyright 2023 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_GLFW_ADAPTER_H_
|
|
#define MUJOCO_SIMULATE_GLFW_ADAPTER_H_
|
|
|
|
#include <utility>
|
|
|
|
#include <GLFW/glfw3.h>
|
|
#include <mujoco/mujoco.h>
|
|
#include "platform_ui_adapter.h"
|
|
|
|
#ifdef __APPLE__
|
|
#include <optional>
|
|
#include "glfw_corevideo.h"
|
|
#endif
|
|
|
|
namespace mujoco {
|
|
class GlfwAdapter : public PlatformUIAdapter {
|
|
public:
|
|
GlfwAdapter();
|
|
~GlfwAdapter() override;
|
|
|
|
std::pair<double, double> GetCursorPosition() const override;
|
|
double GetDisplayPixelsPerInch() const override;
|
|
std::pair<int, int> GetFramebufferSize() const override;
|
|
std::pair<int, int> GetWindowSize() const override;
|
|
bool IsGPUAccelerated() const override;
|
|
void PollEvents() override;
|
|
void SetClipboardString(const char* text) override;
|
|
void SetVSync(bool enabled) override;
|
|
void SetWindowTitle(const char* title) override;
|
|
bool ShouldCloseWindow() const override;
|
|
void SwapBuffers() override;
|
|
void ToggleFullscreen() override;
|
|
|
|
bool IsLeftMouseButtonPressed() const override;
|
|
bool IsMiddleMouseButtonPressed() const override;
|
|
bool IsRightMouseButtonPressed() const override;
|
|
|
|
bool IsAltKeyPressed() const override;
|
|
bool IsCtrlKeyPressed() const override;
|
|
bool IsShiftKeyPressed() const override;
|
|
|
|
bool IsMouseButtonDownEvent(int act) const override;
|
|
bool IsKeyDownEvent(int act) const override;
|
|
|
|
int TranslateKeyCode(int key) const override;
|
|
mjtButton TranslateMouseButton(int button) const override;
|
|
|
|
private:
|
|
GLFWvidmode vidmode_;
|
|
GLFWwindow* window_;
|
|
|
|
// store last window information when going to full screen
|
|
std::pair<int, int> window_pos_;
|
|
std::pair<int, int> window_size_;
|
|
|
|
#ifdef __APPLE__
|
|
// Workaround for perpertually broken OpenGL VSync on macOS,
|
|
// most recently https://github.com/glfw/glfw/issues/2249.
|
|
std::optional<GlfwCoreVideo> core_video_;
|
|
#endif
|
|
};
|
|
} // namespace mujoco
|
|
|
|
#endif // MUJOCO_SIMULATE_GLFW_ADAPTER_H_
|