Move DrawMode into its own header file.

PiperOrigin-RevId: 900656695
Change-Id: I4db6f0f74c2109752efe40bc37c7104505139049

src/experimental/filament/CMakeLists.txt

@@ -27,6 +27,7 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         filament/builtins.h
         filament/color_grading_options.cc
         filament/color_grading_options.h
+        filament/draw_mode.h
         filament/filament_context.cc
         filament/filament_context.h
         filament/filament_platform_factory.cc

src/experimental/filament/filament/draw_mode.h

@@ -0,0 +1,36 @@
+// Copyright 2026 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_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_DRAW_MODE_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_DRAW_MODE_H_
+
+namespace mujoco {
+
+// The different modes that can be used to render the scene.
+enum class DrawMode {
+  // Render the scene with "normal" colors and lighting.
+  Color,
+  // Render the scene as a grayscale depth map.
+  Depth,
+  // Render each object with a unique, uniform (flat) color regardless of
+  // lighting and texture.
+  Segmentation,
+};
+
+static constexpr int kNumDrawModes = 3;
+
+}  // namespace mujoco
+
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_DRAW_MODE_H_

src/experimental/filament/filament/filament_context.cc

@@ -38,6 +38,7 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/filament_platform_factory.h"
 #include "experimental/filament/filament/imgui_bridge.h"
 #include "experimental/filament/filament/imgui_editor.h"
@@ -134,11 +135,11 @@ void FilamentContext::Render(const mjrRect& viewport, const mjvScene* scene) {
     imgui_bridge_->Update();
   }
 
-  last_render_mode_ = SceneView::DrawMode::kNormal;
+  last_render_mode_ = DrawMode::Color;
   if (scene->flags[mjRND_SEGMENT]) {
-    last_render_mode_ = SceneView::DrawMode::kSegmentation;
+    last_render_mode_ = DrawMode::Segmentation;
   } else if (scene->flags[mjRND_DEPTH]) {
-    last_render_mode_ = SceneView::DrawMode::kDepth;
+    last_render_mode_ = DrawMode::Depth;
   }
   last_camera_ = mjv_averageCamera(scene->camera, scene->camera + 1);
 
@@ -242,7 +243,7 @@ void FilamentContext::ReadPixels(mjrRect viewport, unsigned char* rgb,
   if (depth) {
     if (renderer_->beginFrame(offscreen_swap_chain_)) {
       SceneView::RenderRequest request;
-      request.draw_mode = SceneView::DrawMode::kDepth;
+      request.draw_mode = DrawMode::Depth;
       request.viewport = viewport;
       request.target = depth_target_.get();
       request.camera = last_camera_;

src/experimental/filament/filament/filament_context.h

@@ -24,6 +24,7 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjrender.h>
 #include <mujoco/mjvisualize.h>
+#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/imgui_bridge.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/render_target.h"
@@ -80,7 +81,7 @@ class FilamentContext {
   filament::SwapChain* offscreen_swap_chain_ = nullptr;
   std::unique_ptr<filament::backend::Platform> platform_;
 
-  SceneView::DrawMode last_render_mode_ = SceneView::DrawMode::kNormal;
+  DrawMode last_render_mode_ = DrawMode::Color;
   mjvGLCamera last_camera_;
   SwapChainType scene_swap_chain_target_ = kWindowSwapChain;
   SwapChainType gui_swap_chain_target_ = kWindowSwapChain;

src/experimental/filament/filament/imgui_bridge.cc

@@ -23,6 +23,7 @@
 #include <imgui.h>
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/renderable.h"
@@ -276,7 +277,7 @@ void ImguiBridge::PrepareRenderables(int count) {
     r->SetBlendOrder(static_cast<std::uint16_t>(renderables_.size()));
 
     Material& material = r->GetMaterial();
-    Material::DrawMode mode = Material::DrawMode::kNormal;
+    DrawMode mode = DrawMode::Color;
     material.SetMaterial(mode, object_mgr_->GetMaterial(ObjectManager::kUnlitUi));
     r->SetMaterialInstance(material.GetMaterialInstance(mode));
     scene_view_->AddToUxScene(r.get());

src/experimental/filament/filament/material.cc

@@ -20,6 +20,7 @@
 #include <filament/RenderableManager.h>
 #include <filament/TextureSampler.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/texture.h"
 #include "experimental/filament/filament/object_manager.h"
 
@@ -38,22 +39,27 @@ Material::~Material() noexcept {
 }
 
 void Material::SetMaterial(DrawMode mode, filament::Material* material) {
-  if (instances_[mode]) {
+  const int index = static_cast<int>(mode);
+  if (instances_[index]) {
     const filament::Material* current_material =
-        instances_[mode]->getMaterial();
+        instances_[index]->getMaterial();
     if (current_material == material) {
       return;
     }
 
-    GetEngine()->destroy(instances_[mode]);
+    GetEngine()->destroy(instances_[index]);
-    instances_[mode] = nullptr;
+    instances_[index] = nullptr;
   }
   if (material) {
-    instances_[mode] = material->createInstance();
+    instances_[index] = material->createInstance();
     UpdateMaterialInstances();
   }
 }
 
+filament::MaterialInstance* Material::GetMaterialInstance(DrawMode mode) {
+  return instances_[static_cast<int>(mode)];
+}
+
 void Material::UpdateParams(const Params& params) {
   params_ = params;
   UpdateMaterialInstances();
@@ -65,7 +71,8 @@ void Material::UpdateTextures(const Textures& textures) {
 }
 
 void Material::UpdateMaterialInstances() {
-  filament::MaterialInstance* instance = instances_[DrawMode::kNormal];
+  filament::MaterialInstance* instance =
+      instances_[static_cast<int>(DrawMode::Color)];
   if (instance == nullptr) {
     return;
   }
@@ -107,9 +114,10 @@ void Material::UpdateMaterialInstances() {
     instance->setParameter("Reflectance", params_.reflectance);
   }
 
-  if (instances_[DrawMode::kSegmentation]) {
+  const int segmentation_index = static_cast<int>(DrawMode::Segmentation);
-    instances_[DrawMode::kSegmentation]->setParameter(
+  if (instances_[segmentation_index]) {
-        "BaseColorFactor", params_.segmentation_color);
+    instances_[segmentation_index]->setParameter("BaseColorFactor",
+                                                 params_.segmentation_color);
   }
 
   // All textures use the same default sampler.

src/experimental/filament/filament/material.h

@@ -20,6 +20,7 @@
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
+#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/texture.h"
 #include "experimental/filament/filament/object_manager.h"
 
@@ -27,16 +28,6 @@ namespace mujoco {
 
 class Material {
  public:
-  // The different methods for rendering objects. Each mode uses a different
-  // material, but all materials "share" the same textures and parameters
-  // (unless specifically noted otherwise).
-  enum DrawMode {
-    kNormal,
-    kDepth,
-    kSegmentation,
-    kNumDrawModes,
-  };
-
   // The textures that can be assigned to the drawable's material.
   struct Textures {
     const Texture* color = nullptr;
@@ -89,9 +80,7 @@ class Material {
   const Textures& GetTextures() const { return textures_; }
 
   // Returns the material instance assigned to the draw mode.
-  filament::MaterialInstance* GetMaterialInstance(DrawMode mode) {
+  filament::MaterialInstance* GetMaterialInstance(DrawMode mode);
-    return instances_[mode];
-  }
 
   // Returns the filament Engine managing the material.
   filament::Engine* GetEngine() const { return object_mgr_->GetEngine(); }

src/experimental/filament/filament/scene_geom_util.cc

@@ -31,6 +31,7 @@
 #include <utils/Entity.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/mesh.h"
@@ -533,14 +534,11 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
   params.glossiness *= model_objs->GetShininessMultiplier();
   material.UpdateParams(params);
 
+  material.SetMaterial(DrawMode::Color, object_mgr->GetMaterial(material_type));
+  material.SetMaterial(DrawMode::Depth,
+                       object_mgr->GetMaterial(ObjectManager::kUnlitDepth));
   material.SetMaterial(
-      Material::DrawMode::kNormal,
+      DrawMode::Segmentation,
-      object_mgr->GetMaterial(material_type));
-  material.SetMaterial(
-      Material::DrawMode::kDepth,
-      object_mgr->GetMaterial(ObjectManager::kUnlitDepth));
-  material.SetMaterial(
-      Material::DrawMode::kSegmentation,
       object_mgr->GetMaterial(ObjectManager::kUnlitSegmentation));
 }
 

src/experimental/filament/filament/scene_view.cc

@@ -40,6 +40,7 @@
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/color_grading_options.h"
+#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/light.h"
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
@@ -53,12 +54,9 @@ using filament::math::float3;
 using filament::math::float4;
 using filament::math::mat4;
 
-static constexpr int kNormalIndex =
+static constexpr int kNormalIndex = static_cast<int>(DrawMode::Color);
-    static_cast<int>(Material::DrawMode::kNormal);
+static constexpr int kDepthIndex = static_cast<int>(DrawMode::Depth);
-static constexpr int kDepthIndex =
+static constexpr int kSegmentIndex = static_cast<int>(DrawMode::Segmentation);
-    static_cast<int>(Material::DrawMode::kDepth);
-static constexpr int kSegmentIndex =
-    static_cast<int>(Material::DrawMode::kSegmentation);
 
 static filament::ColorGrading::Builder ToBuilder(
     const ColorGradingOptions& opts) {
@@ -279,7 +277,7 @@ void SceneView::Render(filament::Renderer* renderer,
   }
 
   // Render reflection passes.
-  if (request.draw_mode == DrawMode::kNormal) {
+  if (request.draw_mode == DrawMode::Color) {
     filament::TransformManager& tm = engine_->getTransformManager();
     for (size_t i = 0; i < reflectives_.size(); ++i) {
       Renderable* renderable = reflectives_[i];

src/experimental/filament/filament/scene_view.h

@@ -27,8 +27,8 @@
 #include <filament/View.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/color_grading_options.h"
+#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/light.h"
-#include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/render_target.h"
 
@@ -58,10 +58,9 @@ class SceneView {
   void RemoveFromUxScene(Renderable* renderable);
 
   // Parameters for rendering the scene.
-  using DrawMode = Material::DrawMode;
   struct RenderRequest {
     // The draw mode (e.g. normal, depth, segmentation) to render.
-    DrawMode draw_mode = DrawMode::kNormal;
+    DrawMode draw_mode = DrawMode::Color;
     // The target viewport for the rendered image.
     mjrRect viewport;
     // The camera from which to render the scene.
@@ -102,8 +101,7 @@ class SceneView {
   filament::Camera* camera_ = nullptr;
   filament::ColorGrading* color_grading_ = nullptr;
   ColorGradingOptions color_grading_options_;
-  std::array<filament::View*, DrawMode::kNumDrawModes> views_;
+  std::array<filament::View*, kNumDrawModes> views_;
-  DrawMode active_mode_ = DrawMode::kNumDrawModes;
 
   // Scene objects.
   std::unordered_set<Light*> lights_;