Implementation:Google deepmind Mujoco GLFW Init CreateWindow

Knowledge Sources	GLFW Documentation MuJoCo
Domains	Windowing, Input_Handling, OpenGL
Last Updated	2026-02-15 06:00 GMT

Overview

External tool for creating OpenGL windows and handling input via the GLFW library used in MuJoCo interactive examples.

Description

glfwInit initializes the GLFW library and glfwCreateWindow creates an OS window with an OpenGL context. MuJoCo's sample/basic.cc demonstrates the standard pattern of GLFW initialization with MuJoCo callback registration for keyboard, mouse button, mouse move, and scroll events.

Usage

Use for interactive visualization. Initialize GLFW before creating the MuJoCo rendering context (mjr_makeContext). Register MuJoCo-compatible callbacks for user interaction.

Code Reference

Source Location

• Repository: mujoco
• File: sample/basic.cc
• Lines: 126-149

Signature

// GLFW library functions (external)
int glfwInit(void);
GLFWwindow* glfwCreateWindow(int width, int height, const char* title,
                              GLFWmonitor* monitor, GLFWwindow* share);
void glfwMakeContextCurrent(GLFWwindow* window);

Import

#include <GLFW/glfw3.h>

External Reference

• GLFW Official Documentation

I/O Contract

Inputs

Name	Type	Required	Description
width	int	Yes	Window width in pixels (e.g., 1200)
height	int	Yes	Window height in pixels (e.g., 900)
title	const char*	Yes	Window title string

Outputs

Name	Type	Description
window	GLFWwindow*	Window handle with active OpenGL context

Usage Examples

#include <GLFW/glfw3.h>
#include <mujoco/mujoco.h>

// Initialize GLFW
if (!glfwInit()) {
    return 1;
}

// Create window with OpenGL context
GLFWwindow* window = glfwCreateWindow(1200, 900, "MuJoCo", NULL, NULL);
glfwMakeContextCurrent(window);
glfwSwapInterval(1);  // vsync

// Register MuJoCo callbacks
glfwSetKeyCallback(window, keyboard);
glfwSetCursorPosCallback(window, mouse_move);
glfwSetMouseButtonCallback(window, mouse_button);
glfwSetScrollCallback(window, scroll);

// ... create mjrContext here ...

// Render loop
while (!glfwWindowShouldClose(window)) {
    // simulate, update scene, render...
    glfwSwapBuffers(window);
    glfwPollEvents();
}

glfwTerminate();

Related Pages

Implements Principle

• Principle:Google_deepmind_Mujoco_GLFW_Window_Management

Requires Environment

• Environment:Google_deepmind_Mujoco_C_Build_Environment