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Add edge and vertex rendering for flexes.

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PiperOrigin-RevId: 933675465
Change-Id: Ice3c3a35820588c732b73f1dbad22e346acc4046
This commit is contained in:
Haroon Qureshi
2026-06-17 05:55:27 -07:00
committed by Copybara-Service
parent e76afa7160
commit 037bdfa519
1 changed files with 80 additions and 0 deletions
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src/experimental/filament/compat/scene_bridge.cc
+80
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@@ -102,6 +102,8 @@ mat4 CalculateClipFromWorld(const mjrRect& viewport, const mjrCamera& cam) {
}
void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
const mjModel* model = model_objects_->GetModel();
mjtNum hpos[3], hfwd[3];
float headpos[3], gazedir[3];
mjv_cameraInModel(hpos, hfwd, nullptr, scene);
@@ -125,6 +127,84 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
}
}
// Draw flex edges and vertices as separate renderables.
if (geom->type == mjGEOM_FLEX &&
(!scene->flexskinopt || model->flex_dim[geom->objid] == 1)) {
mjrfMaterial material;
mjrf_defaultMaterial(&material);
material.color[0] = model->flex_rgba[4 * geom->objid + 0];
material.color[1] = model->flex_rgba[4 * geom->objid + 1];
material.color[2] = model->flex_rgba[4 * geom->objid + 2];
material.color[3] = model->flex_rgba[4 * geom->objid + 3];
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
const int vertadr = scene->flexvertadr[geom->objid];
const int vertnum = scene->flexvertnum[geom->objid];
const float radius = model->flex_radius[geom->objid];
if (scene->flexvertopt) {
// Use small spheres to represent vertices.
const float rot[] = {1.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 1.f};
const float size[] = {radius, radius, radius};
for (int v = vertadr; v < vertadr + vertnum; ++v) {
auto vertex = CreateRenderable(ctx_, params);
mjrf_setRenderableGeomMesh(vertex.get(), mjGEOM_SPHERE, 3, 3, 3);
mjrf_setRenderableMaterial(vertex.get(), &material);
mjrf_setRenderableSize(vertex.get(), size);
mjrf_setRenderableTransform(vertex.get(), scene->flexvert + 3*v, rot);
mjrf_addRenderableToScene(scene_.get(), vertex.get());
renderables_.push_back(std::move(vertex));
}
}
if (scene->flexedgeopt) {
const int edgeadr = scene->flexedgeadr[geom->objid];
const int edgenum = scene->flexedgenum[geom->objid];
// Use small thin cylinders to represent the edges.
for (int e = edgeadr; e < edgeadr + edgenum; ++e) {
const float* v1 = scene->flexvert + 3 * (vertadr + scene->flexedge[2*e]);
const float* v2 = scene->flexvert + 3 * (vertadr + scene->flexedge[2*e+1]);
const mjtNum vec[3] = {v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]};
const float pos[3]{
(v1[0] + v2[0]) * 0.5f,
(v1[1] + v2[1]) * 0.5f,
(v1[2] + v2[2]) * 0.5f,
};
mjtNum quat[4];
mju_quatZ2Vec(quat, vec);
mjtNum edgemat[9];
mju_quat2Mat(edgemat, quat);
const float rot[9] = {
static_cast<float>(edgemat[0]),
static_cast<float>(edgemat[1]),
static_cast<float>(edgemat[2]),
static_cast<float>(edgemat[3]),
static_cast<float>(edgemat[4]),
static_cast<float>(edgemat[5]),
static_cast<float>(edgemat[6]),
static_cast<float>(edgemat[7]),
static_cast<float>(edgemat[8]),
};
const float len = static_cast<float>(mju_norm3(vec));
const float size[3] = {radius, radius, len * 0.5f};
auto vertex = CreateRenderable(ctx_, params);
mjrf_setRenderableGeomMesh(vertex.get(), mjGEOM_CYLINDER, 3, 3, 3);
mjrf_setRenderableMaterial(vertex.get(), &material);
mjrf_setRenderableSize(vertex.get(), size);
mjrf_setRenderableTransform(vertex.get(), pos, rot);
mjrf_addRenderableToScene(scene_.get(), vertex.get());
renderables_.push_back(std::move(vertex));
}
}
}
if (geom->type == mjGEOM_FLEX || geom->type == mjGEOM_SKIN) {
if (!scene_objects_->CreateSkinFlexMesh(scene, model_objects_->GetModel(),
*geom)) {