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Remove separate targets for classic and filament renderer.

Browse Source 
The platform::Renderer now supports both implementations at
runtime.

PiperOrigin-RevId: 878427862
Change-Id: I2997c197c6eddbe177c77b435cc5848fd80f1839
This commit is contained in:
Haroon Qureshi
2026-03-04 04:55:22 -08:00
committed by Copybara-Service
parent 84682a46b0
commit 13d164063c
9 changed files with 25 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/build.yml
+2 -10
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@@ -381,20 +381,12 @@ jobs:
if: ${{ runner.os == 'Linux' }}
run: bash ./.github/workflows/build_steps.sh prepare_linux
- name: Configure Studio with legacy OpenGL rendering
env:
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ./.github/workflows/build_steps.sh configure_studio_legacy_opengl
- name: Build Studio with legacy OpenGL rendering
run: bash ./.github/workflows/build_steps.sh build_studio
- name: Configure Studio with Filament rendering
- name: Configure Studio
env:
CMAKE_ARGS: ${{ matrix.cmake_args }}
run: bash ./.github/workflows/build_steps.sh configure_studio
- name: Build Studio with Filament rendering
- name: Build Studio
run: bash ./.github/workflows/build_steps.sh build_studio
- name: Notify team chat
.github/workflows/build_steps.sh
+4 -22
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@@ -147,9 +147,8 @@ build_simulate() {
}
_configure_studio() {
# Invoke cmake will all options OFF assuming that the caller will enable
# needed options by running `export _CONFIGURE_STUDIO_CMAKE_ARGS=...` first
configure_studio() {
echo "Configuring Studio..."
cmake -B build \
-DCMAKE_BUILD_TYPE:STRING=Release \
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION:BOOL=OFF \
@@ -157,28 +156,11 @@ _configure_studio() {
-DBUILD_SHARED_LIBS=OFF \
-DMUJOCO_BUILD_EXAMPLES=OFF \
-DMUJOCO_BUILD_SIMULATE=OFF \
-DMUJOCO_BUILD_STUDIO=OFF \
-DMUJOCO_BUILD_STUDIO=ON \
-DMUJOCO_BUILD_TESTS=OFF \
-DMUJOCO_TEST_PYTHON_UTIL=OFF \
-DMUJOCO_WITH_USD=OFF \
-DMUJOCO_USE_FILAMENT=OFF \
-DMUJOCO_USE_FILAMENT_VULKAN=OFF \
${_CONFIGURE_STUDIO_CMAKE_ARGS}
}
configure_studio_legacy_opengl() {
echo "Configuring Studio (legacy OpenGL)..."
export _CONFIGURE_STUDIO_CMAKE_ARGS="-DMUJOCO_BUILD_STUDIO=ON ${CMAKE_ARGS}"
_configure_studio
echo "Configuring Studio (legacy OpenGL)... DONE"
}
configure_studio() {
echo "Configuring Studio..."
export _CONFIGURE_STUDIO_CMAKE_ARGS="-DMUJOCO_BUILD_STUDIO=ON -DMUJOCO_USE_FILAMENT=ON ${CMAKE_ARGS}"
_configure_studio
-DMUJOCO_USE_FILAMENT=ON
echo "Configuring Studio... DONE"
}
CMakeLists.txt
+7 -10
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@@ -47,7 +47,8 @@ if(NOT EMSCRIPTEN)
option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
option(MUJOCO_WITH_USD "Build with OpenUSD" OFF)
option(MUJOCO_USE_FILAMENT "Use filament rendering" OFF)
option(MUJOCO_USE_FILAMENT_VULKAN "Use vulkan backend for filament rendering" OFF)
# Allows filament renderer to be used with mjr API; disables src/render to prevent conflicts.
option(MUJOCO_USE_FILAMENT_MJR_COMPAT "Use filament mjr compatibility layer" OFF)
endif()
if(EMSCRIPTEN)
@@ -114,19 +115,15 @@ add_subdirectory(src/engine)
add_subdirectory(src/user)
add_subdirectory(src/xml)
add_subdirectory(src/thread)
if(MUJOCO_USE_FILAMENT AND NOT EMSCRIPTEN)
# Note that, by default, the "src/render" and "src/ui" code is added directly
# into the "mujoco" target. However, "mujoco::filament" is a separate,
# explicit target. Therefore, if you want to use MuJoCo with Filament, you
# will need to explicitly add the "mujoco::filament" target as a link
# dependency in your project.
add_subdirectory(src/experimental/filament)
elseif(NOT EMSCRIPTEN)
if(NOT EMSCRIPTEN AND NOT MUJOCO_USE_FILAMENT_MJR_COMPAT)
add_subdirectory(src/render)
add_subdirectory(src/ui)
endif()
if(MUJOCO_USE_FILAMENT AND NOT EMSCRIPTEN)
add_subdirectory(src/experimental/filament)
endif()
if(EMSCRIPTEN)
add_subdirectory(wasm)
if(MUJOCO_BUILD_TESTS_WASM)
src/experimental/filament/CMakeLists.txt
+7 -1
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@@ -21,7 +21,6 @@ target_compile_definitions(${MUJOCO_FILAMENT_TARGET_NAME} PRIVATE MJ_STATIC)
target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
PUBLIC
mjr_compat.cc
render_context_filament.h
render_context_filament.cc
filament/buffer_util.cc
@@ -58,6 +57,13 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
filament/vertex_util.cc
filament/vertex_util.h
)
if(MUJOCO_USE_FILAMENT_MJR_COMPAT)
target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
PUBLIC
mjr_compat.cc
)
endif()
target_include_directories(${MUJOCO_FILAMENT_TARGET_NAME}
PUBLIC
${PROJECT_SOURCE_DIR}/include
src/experimental/platform/CMakeLists.txt
+2 -17
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@@ -16,25 +16,8 @@ cmake_minimum_required(VERSION 3.16)
set(MUJOCO_PLATFORM_TARGET_NAME mujoco_platform)
# Determine the render configuration and dependencies based options.
if(MUJOCO_USE_FILAMENT AND MUJOCO_USE_FILAMENT_VULKAN)
set(MUJOCO_PLATFORM_RENDER_CONFIG "MUJOCO_RENDERER_FILAMENT_VULKAN")
set(MUJOCO_PLATFORM_RENDER_DEPS "mujoco::filament")
elseif(MUJOCO_USE_FILAMENT)
set(MUJOCO_PLATFORM_RENDER_CONFIG "MUJOCO_RENDERER_FILAMENT_OPENGL")
set(MUJOCO_PLATFORM_RENDER_DEPS "mujoco::filament")
else()
set(MUJOCO_PLATFORM_RENDER_CONFIG "MUJOCO_RENDERER_CLASSIC_OPENGL")
set(MUJOCO_PLATFORM_RENDER_DEPS "dear_imgui_OpenGL3")
endif()
add_library(${MUJOCO_PLATFORM_TARGET_NAME} STATIC)
target_compile_definitions(${MUJOCO_PLATFORM_TARGET_NAME}
PUBLIC
-D${MUJOCO_PLATFORM_RENDER_CONFIG}
)
target_sources(${MUJOCO_PLATFORM_TARGET_NAME}
PUBLIC
egl_utils.cc
@@ -113,8 +96,10 @@ include(third_party_deps/libwebp)
target_link_libraries(${MUJOCO_PLATFORM_TARGET_NAME}
dear_imgui
dear_imgui_SDL2
dear_imgui_OpenGL3
dear_imgui_stdlib
implot
mujoco::filament
webp
SDL2::SDL2-static
${MUJOCO_PLATFORM_RENDER_DEPS}
src/experimental/studio/CMakeLists.txt
+1
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@@ -50,6 +50,7 @@ include(third_party_deps/font_awesome)
target_link_libraries(${MUJOCO_STUDIO_TARGET_NAME}
PRIVATE
absl::flags
absl::flags_parse
dear_imgui
implot
mujoco::mujoco
src/experimental/studio/README.md
-12
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@@ -32,18 +32,6 @@ If you intend to develop the application you may prefer to work from an IDE:
* [Visual Studio](https://visualstudio.microsoft.com/). Follow these
[instructions](https://learn.microsoft.com/en-us/cpp/build/cmake-projects-in-visual-studio?view=msvc-170).
## Filament Rendering
Studio uses legacy OpenGL rendering by default but there is an option to use
Physically Based Rendering via [Filament](https://google.github.io/filament/Filament.md.html).
To enable Filament you need to `-DMUJOCO_USE_FILAMENT=ON` during the cmake
configuration step. The Filament renderer has multiple rendering backends,
on Linux OpenGL is the default but Vulkan can be used by also providing
the `-DMUJOCO_USE_FILAMENT_VULKAN=ON` option.
Also note that you will need to run the application from the folder containing
the executable so that the expected materials/assets can be found.
## Known Bugs
* MuJoCo Studio does not yet work using Wayland on Linux, use X11 instead.
src/experimental/studio/build.sh
-1
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@@ -62,7 +62,6 @@ if [[ "$do_configure" == true ]]; then
"-DUSE_STATIC_LIBCXX=OFF"
"-DBUILD_SHARED_LIB=OFF"
"-DMUJOCO_USE_FILAMENT=ON"
"-DMUJOCO_USE_FILAMENT_VULKAN=OFF"
"-DMUJOCO_BUILD_EXAMPLES=OFF"
"-DMUJOCO_BUILD_SIMULATE=OFF"
"-DMUJOCO_BUILD_TESTS=OFF"
src/experimental/studio/main.cc
+2
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@@ -25,6 +25,7 @@
#include <vector>
#include <absl/flags/flag.h>
#include <absl/flags/parse.h>
#include <mujoco/mujoco.h>
#include "experimental/platform/graphics_mode.h"
#include "experimental/studio/app.h"
@@ -73,6 +74,7 @@ class FileResource {
};
int main(int argc, char** argv, char** envp) {
absl::ParseCommandLine(argc, argv);
const char* home = getenv("HOME");
const std::string ini_path = std::string(home ? home : ".") + "/.mujoco.ini";