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- // 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.
- #include "glfw_adapter.h"
- #include <cstdlib>
- #include <utility>
- #include <GLFW/glfw3.h>
- #include <mujoco/mjui.h>
- #include <mujoco/mujoco.h>
- #include "glfw_dispatch.h"
- #ifdef __APPLE__
- #include "glfw_corevideo.h"
- #endif
- namespace mujoco {
- namespace {
- int MaybeGlfwInit() {
- static const int is_initialized = []() {
- auto success = Glfw().glfwInit();
- if (success == GLFW_TRUE) {
- std::atexit(Glfw().glfwTerminate);
- }
- return success;
- }();
- return is_initialized;
- }
- GlfwAdapter& GlfwAdapterFromWindow(GLFWwindow* window) {
- return *static_cast<GlfwAdapter*>(Glfw().glfwGetWindowUserPointer(window));
- }
- } // namespace
- GlfwAdapter::GlfwAdapter() {
- if (MaybeGlfwInit() != GLFW_TRUE) {
- mju_error("could not initialize GLFW");
- }
- // multisampling
- Glfw().glfwWindowHint(GLFW_SAMPLES, 4);
- Glfw().glfwWindowHint(GLFW_VISIBLE, 1);
- // get video mode and save
- vidmode_ = *Glfw().glfwGetVideoMode(Glfw().glfwGetPrimaryMonitor());
- // create window
- window_ = Glfw().glfwCreateWindow((2 * vidmode_.width) / 3,
- (2 * vidmode_.height) / 3,
- "MuJoCo", nullptr, nullptr);
- if (!window_) {
- mju_error("could not create window");
- }
- // save window position and size
- Glfw().glfwGetWindowPos(window_, &window_pos_.first, &window_pos_.second);
- Glfw().glfwGetWindowSize(window_, &window_size_.first, &window_size_.second);
- // set callbacks
- Glfw().glfwSetWindowUserPointer(window_, this);
- Glfw().glfwSetDropCallback(
- window_, +[](GLFWwindow* window, int count, const char** paths) {
- GlfwAdapterFromWindow(window).OnFilesDrop(count, paths);
- });
- Glfw().glfwSetKeyCallback(
- window_, +[](GLFWwindow* window, int key, int scancode, int act, int mods) {
- GlfwAdapterFromWindow(window).OnKey(key, scancode, act);
- });
- Glfw().glfwSetMouseButtonCallback(
- window_, +[](GLFWwindow* window, int button, int act, int mods) {
- GlfwAdapterFromWindow(window).OnMouseButton(button, act);
- });
- Glfw().glfwSetCursorPosCallback(
- window_, +[](GLFWwindow* window, double x, double y) {
- GlfwAdapterFromWindow(window).OnMouseMove(x, y);
- });
- Glfw().glfwSetScrollCallback(
- window_, +[](GLFWwindow* window, double xoffset, double yoffset) {
- GlfwAdapterFromWindow(window).OnScroll(xoffset, yoffset);
- });
- Glfw().glfwSetWindowRefreshCallback(
- window_, +[](GLFWwindow* window) {
- #ifdef __APPLE__
- auto& core_video = GlfwAdapterFromWindow(window).core_video_;
- if (core_video.has_value()) {
- core_video->UpdateDisplayLink();
- }
- #endif
- GlfwAdapterFromWindow(window).OnWindowRefresh();
- });
- Glfw().glfwSetWindowSizeCallback(
- window_, +[](GLFWwindow* window, int width, int height) {
- GlfwAdapterFromWindow(window).OnWindowResize(width, height);
- });
- // make context current
- Glfw().glfwMakeContextCurrent(window_);
- }
- GlfwAdapter::~GlfwAdapter() {
- FreeMjrContext();
- Glfw().glfwMakeContextCurrent(nullptr);
- Glfw().glfwDestroyWindow(window_);
- }
- std::pair<double, double> GlfwAdapter::GetCursorPosition() const {
- double x, y;
- Glfw().glfwGetCursorPos(window_, &x, &y);
- return {x, y};
- }
- double GlfwAdapter::GetDisplayPixelsPerInch() const {
- int width_mm, height_mm;
- Glfw().glfwGetMonitorPhysicalSize(
- Glfw().glfwGetPrimaryMonitor(), &width_mm, &height_mm);
- return 25.4 * vidmode_.width / width_mm;
- }
- std::pair<int, int> GlfwAdapter::GetFramebufferSize() const {
- int width, height;
- Glfw().glfwGetFramebufferSize(window_, &width, &height);
- return {width, height};
- }
- std::pair<int, int> GlfwAdapter::GetWindowSize() const {
- int width, height;
- Glfw().glfwGetWindowSize(window_, &width, &height);
- return {width, height};
- }
- bool GlfwAdapter::IsGPUAccelerated() const {
- return true;
- }
- void GlfwAdapter::PollEvents() {
- Glfw().glfwPollEvents();
- }
- void GlfwAdapter::SetClipboardString(const char* text) {
- Glfw().glfwSetClipboardString(window_, text);
- }
- void GlfwAdapter::SetVSync(bool enabled){
- #ifdef __APPLE__
- Glfw().glfwSwapInterval(0);
- if (enabled && !core_video_.has_value()) {
- core_video_.emplace(window_);
- } else if (!enabled && core_video_.has_value()) {
- core_video_.reset();
- }
- #else
- Glfw().glfwSwapInterval(enabled);
- #endif
- }
- void GlfwAdapter::SetWindowTitle(const char* title) {
- Glfw().glfwSetWindowTitle(window_, title);
- }
- bool GlfwAdapter::ShouldCloseWindow() const {
- return Glfw().glfwWindowShouldClose(window_);
- }
- void GlfwAdapter::SwapBuffers() {
- #ifdef __APPLE__
- if (core_video_.has_value()) {
- core_video_->WaitForDisplayRefresh();
- }
- #endif
- Glfw().glfwSwapBuffers(window_);
- }
- void GlfwAdapter::ToggleFullscreen() {
- // currently full screen: switch to windowed
- if (Glfw().glfwGetWindowMonitor(window_)) {
- // restore window from saved data
- Glfw().glfwSetWindowMonitor(window_, nullptr, window_pos_.first, window_pos_.second,
- window_size_.first, window_size_.second, 0);
- }
- // currently windowed: switch to full screen
- else {
- // save window data
- Glfw().glfwGetWindowPos(window_, &window_pos_.first, &window_pos_.second);
- Glfw().glfwGetWindowSize(window_, &window_size_.first,
- &window_size_.second);
- // switch
- Glfw().glfwSetWindowMonitor(window_, Glfw().glfwGetPrimaryMonitor(), 0,
- 0, vidmode_.width, vidmode_.height,
- vidmode_.refreshRate);
- }
- }
- bool GlfwAdapter::IsLeftMouseButtonPressed() const {
- return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_LEFT) == GLFW_PRESS;
- }
- bool GlfwAdapter::IsMiddleMouseButtonPressed() const {
- return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_MIDDLE) == GLFW_PRESS;
- }
- bool GlfwAdapter::IsRightMouseButtonPressed() const {
- return Glfw().glfwGetMouseButton(window_, GLFW_MOUSE_BUTTON_RIGHT) == GLFW_PRESS;
- }
- bool GlfwAdapter::IsAltKeyPressed() const {
- return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_ALT) == GLFW_PRESS ||
- Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_ALT) == GLFW_PRESS;
- }
- bool GlfwAdapter::IsCtrlKeyPressed() const {
- return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS ||
- Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_CONTROL) == GLFW_PRESS;
- }
- bool GlfwAdapter::IsShiftKeyPressed() const {
- return Glfw().glfwGetKey(window_, GLFW_KEY_LEFT_SHIFT) == GLFW_PRESS ||
- Glfw().glfwGetKey(window_, GLFW_KEY_RIGHT_SHIFT) == GLFW_PRESS;
- }
- bool GlfwAdapter::IsMouseButtonDownEvent(int act) const {
- return act == GLFW_PRESS;
- }
- bool GlfwAdapter::IsKeyDownEvent(int act) const { return act == GLFW_PRESS; }
- int GlfwAdapter::TranslateKeyCode(int key) const { return key; }
- mjtButton GlfwAdapter::TranslateMouseButton(int button) const {
- if (button == GLFW_MOUSE_BUTTON_LEFT) {
- return mjBUTTON_LEFT;
- } else if (button == GLFW_MOUSE_BUTTON_RIGHT) {
- return mjBUTTON_RIGHT;
- } else if (button == GLFW_MOUSE_BUTTON_MIDDLE) {
- return mjBUTTON_MIDDLE;
- }
- return mjBUTTON_NONE;
- }
- } // namespace mujoco
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