mujoco_py/pxd/mjrender.pxd

cdef extern from "mjrender.h" nogil:
    # Global constants
    enum: mjNAUX
    enum: mjMAXTEXTURE

    ctypedef enum mjtGridPos:            # grid position for overlay
        mjGRID_TOPLEFT      = 0,        # top left
        mjGRID_TOPRIGHT,                # top right
        mjGRID_BOTTOMLEFT,              # bottom left
        mjGRID_BOTTOMRIGHT              # bottom right


    ctypedef enum mjtFramebuffer:        # OpenGL framebuffer option
        mjFB_WINDOW         = 0,        # default/window buffer
        mjFB_OFFSCREEN                  # offscreen buffer


    ctypedef enum mjtFontScale:          # font scale, used at context creation
        mjFONTSCALE_100     = 100,      # normal scale, suitable in the absence of DPI scaling
        mjFONTSCALE_150     = 150,      # 150% scale
        mjFONTSCALE_200     = 200       # 200% scale


    ctypedef enum mjtFont:               # font type, used at each text operation
        mjFONT_NORMAL       = 0,        # normal font
        mjFONT_SHADOW,                  # normal font with shadow (for higher contrast)
        mjFONT_BIG                      # big font (for user alerts)

    ctypedef struct mjrRect:                     # OpenGL rectangle
        int left                        # left (usually 0)
        int bottom                      # bottom (usually 0)
        int width                       # width (usually buffer width)
        int height                      # height (usually buffer height)


    ctypedef struct mjrContext:                  # custom OpenGL context
        # parameters copied from mjVisual
        float lineWidth                 # line width for wireframe rendering
        float shadowClip                # clipping radius for directional lights
        float shadowScale               # fraction of light cutoff for spot lights
        float fogStart                  # fog start = stat.extent * vis.map.fogstart
        float fogEnd                    # fog end = stat.extent * vis.map.fogend
        float fogRGBA[4]                # fog rgba
        int shadowSize                  # size of shadow map texture
        int offWidth                    # width of offscreen buffer
        int offHeight                   # height of offscreen buffer
        int offSamples                  # number of offscreen buffer multisamples

        # parameters specified at creation
        int fontScale;                  # font scale
        int auxWidth[mjNAUX]            # auxiliary buffer width
        int auxHeight[mjNAUX]           # auxiliary buffer height
        int auxSamples[mjNAUX]          # auxiliary buffer multisamples

        # offscreen rendering objects
        unsigned int offFBO             # offscreen framebuffer object
        unsigned int offFBO_r           # offscreen framebuffer for resolving multisamples
        unsigned int offColor           # offscreen color buffer
        unsigned int offColor_r         # offscreen color buffer for resolving multisamples
        unsigned int offDepthStencil    # offscreen depth and stencil buffer
        unsigned int offDepthStencil_r  # offscreen depth and stencil buffer for resolving multisamples

        # shadow rendering objects
        unsigned int shadowFBO          # shadow map framebuffer object
        unsigned int shadowTex          # shadow map texture

        # auxiliary buffers
        unsigned int auxFBO[mjNAUX]     # auxiliary framebuffer object
        unsigned int auxFBO_r[mjNAUX]   # auxiliary framebuffer object for resolving
        unsigned int auxColor[mjNAUX]   # auxiliary color buffer
        unsigned int auxColor_r[mjNAUX] # auxiliary color buffer for resolving

        # texture objects and info
        int ntexture                    # number of allocated textures
        int textureType[100]            # type of texture (mjtTexture)
        unsigned int texture[100]       # texture names

        # displaylist starting positions
        unsigned int basePlane          # all planes from model
        unsigned int baseMesh           # all meshes from model
        unsigned int baseHField         # all hfields from model
        unsigned int baseBuiltin        # all buildin geoms, with quality from model
        unsigned int baseFontNormal     # normal font
        unsigned int baseFontShadow     # shadow font
        unsigned int baseFontBig        # big font

        # displaylist ranges
        int     rangePlane              # all planes from model
        int     rangeMesh               # all meshes from model
        int     rangeHField             # all hfields from model
        int     rangeBuiltin            # all builtin geoms, with quality from model
        int     rangeFont               # all characters in font

        # skin VBOs
        int      nskin                  # number of skins
        unsigned int* skinvertVBO       # skin vertex position VBOs
        unsigned int* skinnormalVBO     # skin vertex normal VBOs
        unsigned int* skintexcoordVBO   # skin vertex texture coordinate VBOs
        unsigned int* skinfaceVBO       # skin face index VBOs

        # character info
        int     charWidth[127]          # character widths: normal and shadow
        int     charWidthBig[127]       # chacarter widths: big
        int     charHeight              # character heights: normal and shadow
        int     charHeightBig           # character heights: big

        # capabilities
        int     glewInitialized         # is glew initialized
        int     windowAvailable         # is default/window framebuffer available
        int     windowSamples           # number of samples for default/window framebuffer
        int     windowStereo            # is stereo available for default/window framebuffer
        int     windowDoublebuffer      # is default/window framebuffer double buffered

        # only field that changes after mjr_makeContext
        int     currentBuffer           # currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN