mujoco

// Copyright 2021 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_MJUI_H_
#define MUJOCO_MJUI_H_

#include <mujoco/mjrender.h>

#define mjMAXUISECT     10      // maximum number of sections
#define mjMAXUIITEM     200     // maximum number of items per section
#define mjMAXUITEXT     300     // maximum number of chars in edittext and other
#define mjMAXUINAME     40      // maximum number of chars in name
#define mjMAXUIMULTI    35      // maximum number of radio/select items in group
#define mjMAXUIEDIT     7       // maximum number of elements in edit list
#define mjMAXUIRECT     25      // maximum number of rectangles

#define mjSEPCLOSED     1000    // closed state of adjustable separator
#define mjPRESERVE      2000    // preserve section or separator state


// key codes matching GLFW (user must remap for other frameworks)
#define mjKEY_ESCAPE     256
#define mjKEY_ENTER      257
#define mjKEY_TAB        258
#define mjKEY_BACKSPACE  259
#define mjKEY_INSERT     260
#define mjKEY_DELETE     261
#define mjKEY_RIGHT      262
#define mjKEY_LEFT       263
#define mjKEY_DOWN       264
#define mjKEY_UP         265
#define mjKEY_PAGE_UP    266
#define mjKEY_PAGE_DOWN  267
#define mjKEY_HOME       268
#define mjKEY_END        269
#define mjKEY_F1         290
#define mjKEY_F2         291
#define mjKEY_F3         292
#define mjKEY_F4         293
#define mjKEY_F5         294
#define mjKEY_F6         295
#define mjKEY_F7         296
#define mjKEY_F8         297
#define mjKEY_F9         298
#define mjKEY_F10        299
#define mjKEY_F11        300
#define mjKEY_F12        301
#define mjKEY_NUMPAD_0   320
#define mjKEY_NUMPAD_9   329


//---------------------------------- primitive types (mjt) -----------------------------------------

typedef enum mjtButton {          // mouse button
  mjBUTTON_NONE = 0,              // no button
  mjBUTTON_LEFT,                  // left button
  mjBUTTON_RIGHT,                 // right button
  mjBUTTON_MIDDLE                 // middle button
} mjtButton;


typedef enum mjtEvent {           // mouse and keyboard event type
  mjEVENT_NONE = 0,               // no event
  mjEVENT_MOVE,                   // mouse move
  mjEVENT_PRESS,                  // mouse button press
  mjEVENT_RELEASE,                // mouse button release
  mjEVENT_SCROLL,                 // scroll
  mjEVENT_KEY,                    // key press
  mjEVENT_RESIZE,                 // resize
  mjEVENT_REDRAW,                 // redraw
  mjEVENT_FILESDROP               // files drop
} mjtEvent;


typedef enum mjtItem {            // UI item type
  mjITEM_END = -2,                // end of definition list (not an item)
  mjITEM_SECTION = -1,            // section (not an item)
  mjITEM_SEPARATOR = 0,           // separator
  mjITEM_STATIC,                  // static text
  mjITEM_BUTTON,                  // button

  // the rest have data pointer
  mjITEM_CHECKINT,                // check box, int value
  mjITEM_CHECKBYTE,               // check box, mjtByte value
  mjITEM_RADIO,                   // radio group
  mjITEM_RADIOLINE,               // radio group, single line
  mjITEM_SELECT,                  // selection box
  mjITEM_SLIDERINT,               // slider, int value
  mjITEM_SLIDERNUM,               // slider, mjtNum value
  mjITEM_EDITINT,                 // editable array, int values
  mjITEM_EDITNUM,                 // editable array, mjtNum values
  mjITEM_EDITFLOAT,               // editable array, float values
  mjITEM_EDITTXT,                 // editable text

  mjNITEM                         // number of item types
} mjtItem;


typedef enum mjtSection {         // UI section state
  mjSECT_CLOSED = 0,              // closed state (regular section)
  mjSECT_OPEN,                    // open state (regular section)
  mjSECT_FIXED                    // fixed section: always open, no title
} mjtSection;


// predicate function: set enable/disable based on item category
typedef int (*mjfItemEnable)(int category, void* data);


//---------------------------------- mjuiState -----------------------------------------------------

typedef struct mjuiState_ {       // mouse and keyboard state
  // constants set by user
  int nrect;                      // number of rectangles used
  mjrRect rect[mjMAXUIRECT];      // rectangles (index 0: entire window)
  void* userdata;                 // pointer to user data (for callbacks)

  // event type
  int type;                       // (type mjtEvent)

  // mouse buttons
  int left;                       // is left button down
  int right;                      // is right button down
  int middle;                     // is middle button down
  int doubleclick;                // is last press a double click
  int button;                     // which button was pressed (mjtButton)
  double buttontime;              // time of last button press

  // mouse position
  double x;                       // x position
  double y;                       // y position
  double dx;                      // x displacement
  double dy;                      // y displacement
  double sx;                      // x scroll
  double sy;                      // y scroll

  // keyboard
  int control;                    // is control down
  int shift;                      // is shift down
  int alt;                        // is alt down
  int key;                        // which key was pressed
  double keytime;                 // time of last key press

  // rectangle ownership and dragging
  int mouserect;                  // which rectangle contains mouse
  int dragrect;                   // which rectangle is dragged with mouse
  int dragbutton;                 // which button started drag (mjtButton)

  // files dropping (only valid when type == mjEVENT_FILESDROP)
  int dropcount;                  // number of files dropped
  const char** droppaths;         // paths to files dropped
} mjuiState;


//---------------------------------- mjuiThemeSpacing ----------------------------------------------

typedef struct mjuiThemeSpacing_ {  // UI visualization theme spacing
  int total;                        // total width
  int scroll;                       // scrollbar width
  int label;                        // label width
  int section;                      // section gap
  int cornersect;                   // corner radius for section
  int cornersep;                    // corner radius for separator
  int itemside;                     // item side gap
  int itemmid;                      // item middle gap
  int itemver;                      // item vertical gap
  int texthor;                      // text horizontal gap
  int textver;                      // text vertical gap
  int linescroll;                   // number of pixels to scroll
  int samples;                      // number of multisamples
} mjuiThemeSpacing;


//---------------------------------- mjuiThemeColor ------------------------------------------------

typedef struct mjuiThemeColor_ {  // UI visualization theme color
  float master[3];                // master background
  float thumb[3];                 // scrollbar thumb
  float secttitle[3];             // section title
  float secttitle2[3];            // section title: bottom color
  float secttitleuncheck[3];      // section title with unchecked box
  float secttitleuncheck2[3];     // section title with unchecked box: bottom color
  float secttitlecheck[3];        // section title with checked box
  float secttitlecheck2[3];       // section title with checked box: bottom color
  float sectfont[3];              // section font
  float sectsymbol[3];            // section symbol
  float sectpane[3];              // section pane
  float separator[3];             // separator title
  float separator2[3];            // separator title: bottom color
  float shortcut[3];              // shortcut background
  float fontactive[3];            // font active
  float fontinactive[3];          // font inactive
  float decorinactive[3];         // decor inactive
  float decorinactive2[3];        // inactive slider color 2
  float button[3];                // button
  float check[3];                 // check
  float radio[3];                 // radio
  float select[3];                // select
  float select2[3];               // select pane
  float slider[3];                // slider
  float slider2[3];               // slider color 2
  float edit[3];                  // edit
  float edit2[3];                 // edit invalid
  float cursor[3];                // edit cursor
} mjuiThemeColor;


//---------------------------------- mjuiItem ------------------------------------------------------

struct mjuiItemSingle_ {          // check and button-related
  int modifier;                   // 0: none, 1: control, 2: shift; 4: alt
  int shortcut;                   // shortcut key; 0: undefined
};


struct mjuiItemMulti_ {                  // static, radio and select-related
  int nelem;                             // number of elements in group
  char name[mjMAXUIMULTI][mjMAXUINAME];  // element names
};


struct mjuiItemSlider_ {          // slider-related
  double range[2];                // slider range
  double divisions;               // number of range divisions
};


struct mjuiItemEdit_ {            // edit-related
  int nelem;                      // number of elements in list
  double range[mjMAXUIEDIT][2];   // element range (min>=max: ignore)
};


typedef struct mjuiItem_ {        // UI item
  // common properties
  int type;                       // type (mjtItem)
  char name[mjMAXUINAME];         // name
  int state;                      // 0: disable, 1: enable, 2+: use predicate
  void *pdata;                    // data pointer (type-specific)
  int sectionid;                  // id of section containing item
  int itemid;                     // id of item within section
  int userid;                     // user-supplied id (for event handling)

  // type-specific properties
  union {
    struct mjuiItemSingle_ single;  // check and button
    struct mjuiItemMulti_ multi;    // static, radio and select
    struct mjuiItemSlider_ slider;  // slider
    struct mjuiItemEdit_ edit;      // edit
  };

  // internal
  mjrRect rect;                   // rectangle occupied by item
  int skip;                       // item skipped due to closed separator
} mjuiItem;


//---------------------------------- mjuiSection ---------------------------------------------------

typedef struct mjuiSection_ {     // UI section
  // properties
  char name[mjMAXUINAME];         // name
  int state;                      // section state (mjtSection)
  int modifier;                   // 0: none, 1: control, 2: shift; 4: alt
  int shortcut;                   // shortcut key; 0: undefined
  int checkbox;                   // 0: none, 1: unchecked, 2: checked
  int nitem;                      // number of items in use
  mjuiItem item[mjMAXUIITEM];     // preallocated array of items

  // internal
  mjrRect rtitle;                 // rectangle occupied by title
  mjrRect rcontent;               // rectangle occupied by content
  int lastclick;                  // last mouse click over this section
} mjuiSection;


//---------------------------------- mjUI ----------------------------------------------------------

typedef struct mjUI_ {            // entire UI
  // constants set by user
  mjuiThemeSpacing spacing;       // UI theme spacing
  mjuiThemeColor color;           // UI theme color
  mjfItemEnable predicate;        // callback to set item state programmatically
  void* userdata;                 // pointer to user data (passed to predicate)
  int rectid;                     // index of this ui rectangle in mjuiState
  int auxid;                      // aux buffer index of this ui
  int radiocol;                   // number of radio columns (0 defaults to 2)

  // UI sizes (framebuffer units)
  int width;                      // width
  int height;                     // current height
  int maxheight;                  // height when all sections open
  int scroll;                     // scroll from top of UI

  // mouse focus and count
  int mousesect;                  // 0: none, -1: scroll, otherwise 1+section
  int mouseitem;                  // item within section
  int mousehelp;                  // help button down: print shortcuts
  int mouseclicks;                // number of mouse clicks over UI
  int mousesectcheck;             // 0: none, otherwise 1+section

  // keyboard focus and edit
  int editsect;                   // 0: none, otherwise 1+section
  int edititem;                   // item within section
  int editcursor;                 // cursor position
  int editscroll;                 // horizontal scroll
  char edittext[mjMAXUITEXT];     // current text
  mjuiItem* editchanged;          // pointer to changed edit in last mjui_event

  // sections
  int nsect;                      // number of sections in use
  mjuiSection sect[mjMAXUISECT];  // preallocated array of sections
} mjUI;


//---------------------------------- mjuiDef -------------------------------------------------------

typedef struct mjuiDef_ {         // table passed to mjui_add()
  int type;                       // type (mjtItem); -1: section
  char name[mjMAXUINAME];         // name
  int state;                      // state
  void* pdata;                    // pointer to data
  char other[mjMAXUITEXT];        // string with type-specific properties
  int otherint;                   // int with type-specific properties
} mjuiDef;

#endif  // MUJOCO_MJUI_H_