mujoco-rs 5.0.0+mj-3.9.0

use glutin::api::egl::display::Display;
use glutin::api::egl::{context::PossiblyCurrentContext, surface::Surface, device::Device};
use glutin::context::{ContextApi, ContextAttributesBuilder, GlProfile, Version};
use glutin::prelude::{GlDisplay, NotCurrentGlContext, PossiblyCurrentGlContext};
use glutin::surface::{PbufferSurface, SurfaceAttributesBuilder};
use glutin::config::{ConfigSurfaceTypes, ConfigTemplateBuilder};

use std::num::NonZero;


/// GlState implementation, based on EGL for GNU Linux platforms.
#[derive(Debug)]
pub(crate) struct GlStateEgl {
    pub(crate) context: PossiblyCurrentContext,
    pub(crate) surface: Surface<PbufferSurface>,
}


impl GlStateEgl {
    pub(crate) fn new(width: NonZero<u32>, height: NonZero<u32>) -> glutin::error::Result<Self> {
        let device = Device::query_devices().map_err(|e|
            if glutin::error::ErrorKind::NotFound == e.error_kind() {
                glutin::error::ErrorKind::NotSupported("EGL was not found").into()
            } else { e }
        )?.next().ok_or_else(||
            glutin::error::ErrorKind::NotSupported("could not find any compatible devices")
        )?;

        // SAFETY: device is a valid EGL device obtained from query_devices.
        let display = unsafe { Display::with_device(&device, None)? };
        let config_template = ConfigTemplateBuilder::new()
            .with_surface_type(ConfigSurfaceTypes::PBUFFER)
            // Request typical formats; these are hints.
            .with_alpha_size(0)
            .with_depth_size(24)
            .with_stencil_size(8)
            .build();

        // SAFETY: display is a valid EGL display and config_template requests supported attributes.
        let config = unsafe { display.find_configs(config_template)?.next().ok_or_else(||
            glutin::error::ErrorKind::NotSupported("could not find any compatible configs")
        )}?;

        let context_attrs = ContextAttributesBuilder::new()
            .with_profile(GlProfile::Compatibility)
            .with_context_api(ContextApi::OpenGl(Some(Version::new(2, 0))))
            .build(None);

        // SAFETY: display and config are valid; context_attrs requests a compatible GL profile.
        let context_not_current = unsafe { display.create_context(&config, &context_attrs)? };

        let surface_attrs = SurfaceAttributesBuilder::<PbufferSurface>::new()
            .build(width, height);

        // SAFETY: display and config are valid; surface_attrs has valid non-zero dimensions.
        let surface = unsafe { display.create_pbuffer_surface(&config, &surface_attrs)? };
        let context = context_not_current.make_current(&surface)?;
        Ok(Self {context, surface})
    }

    pub(crate) fn make_current(&self) -> Result<(), glutin::error::Error> {
        self.context.make_current(&self.surface)
    }
}