Refactor how render requests are generated.

Get the camera and drawmode from the bridges rather than recalculating
it unecessarily.

PiperOrigin-RevId: 911406470
Change-Id: Ia295846bb80105a2b0ad5da21912ca82b25e04bd

src/experimental/filament/compat/imgui_bridge.cc

@@ -302,6 +302,29 @@ void ImguiBridge::PrepareRenderables(int count) {
   }
 }
 
+mjrScene* ImguiBridge::GetScene() const { return scene_.get(); }
+
+mjrCamera ImguiBridge::GetCamera(int width, int height) const {
+  mjrCamera camera;
+  camera.orthographic = true;
+  camera.pos[0] = 0.0f;
+  camera.pos[1] = 0.0f;
+  camera.pos[2] = 1.0f;
+  camera.forward[0] = 0.0f;
+  camera.forward[1] = 0.0f;
+  camera.forward[2] = -1.0f;
+  camera.up[0] = 0.0f;
+  camera.up[1] = 1.0f;
+  camera.up[2] = 0.0f;
+  camera.frustum_top = 0.0f;
+  camera.frustum_near = 0.0f;
+  camera.frustum_far = 1.0f;
+  camera.frustum_center = width / 2.0f;
+  camera.frustum_width = width / 2.0f;
+  camera.frustum_bottom = height;
+  return camera;
+}
+
 static ImVec2 ClipSpaceToWindowCoordinates(float x, float y) {
   const ImVec2& display_size = ImGui::GetIO().DisplaySize;
   const float pos_x = display_size.x * ((x + 1) * 0.5f);

src/experimental/filament/compat/imgui_bridge.h

@@ -37,7 +37,8 @@ class ImguiBridge {
   void Update();
 
   // Returns the managed UX scene.
-  mjrScene* GetScene() const { return scene_.get(); }
+  mjrScene* GetScene() const;
+  mjrCamera GetCamera(int width, int height) const;
 
   // Uploads texture to be used with ImGui's Image and ImageButton functions.
   uintptr_t UploadImage(uintptr_t tex_id, const uint8_t* pixels, int width,

src/experimental/filament/compat/mjr_filament_renderer.cc

@@ -17,7 +17,6 @@
 #include <cstddef>
 #include <cstdint>
 #include <memory>
-#include <string_view>
 
 #include <math/mathfwd.h>
 #include <math/vec4.h>
@@ -42,31 +41,6 @@ void MjrFilamentRenderer::Init(const mjModel* model) {
   scene_bridge_ = std::make_unique<SceneBridge>(filament_context_.get(), model);
   imgui_bridge_ = std::make_unique<ImguiBridge>(filament_context_.get());
   scene_bridge_->SetDrawTextFunction(DrawTextAt);
-
-  mjr_defaultRenderRequest(&render_requests_[0]);
-  mjr_defaultRenderRequest(&render_requests_[1]);
-
-  render_requests_[0].scene = scene_bridge_->GetScene();
-  render_requests_[0].draw_mode = mjDRAW_MODE_COLOR;
-
-  render_requests_[1].scene = imgui_bridge_->GetScene();
-  render_requests_[1].draw_mode = mjDRAW_MODE_COLOR;
-
-  // The UX camera is a fixed orthographic camera. We only need to change the
-  // width/height based on the viewport per frame.
-  render_requests_[1].camera.orthographic = true;
-  render_requests_[1].camera.pos[0] = 0.0f;
-  render_requests_[1].camera.pos[1] = 0.0f;
-  render_requests_[1].camera.pos[2] = 1.0f;
-  render_requests_[1].camera.forward[0] = 0.0f;
-  render_requests_[1].camera.forward[1] = 0.0f;
-  render_requests_[1].camera.forward[2] = -1.0f;
-  render_requests_[1].camera.up[0] = 0.0f;
-  render_requests_[1].camera.up[1] = 1.0f;
-  render_requests_[1].camera.up[2] = 0.0f;
-  render_requests_[1].camera.frustum_top = 0.0f;
-  render_requests_[1].camera.frustum_near = 0.0f;
-  render_requests_[1].camera.frustum_far = 1.0f;
 }
 
 void MjrFilamentRenderer::Render(const mjrRect& viewport,
@@ -78,29 +52,22 @@ void MjrFilamentRenderer::Render(const mjrRect& viewport,
     imgui_bridge_->Update();
   }
 
-  if (scene->flags[mjRND_SEGMENT]) {
-    render_requests_[0].draw_mode = mjDRAW_MODE_SEGMENTATION;
-  } else if (scene->flags[mjRND_DEPTH]) {
-    render_requests_[0].draw_mode = mjDRAW_MODE_DEPTH;
-  } else {
-    render_requests_[0].draw_mode = mjDRAW_MODE_COLOR;
-  }
-
-  render_requests_[0].width = viewport.width;
-  render_requests_[0].height = viewport.height;
-  render_requests_[1].width = viewport.width;
-  render_requests_[1].height = viewport.height;
-
-  render_requests_[0].camera =
-      mjv_averageCamera(scene->camera, scene->camera + 1);
-  render_requests_[1].camera.frustum_center = viewport.width / 2.0f;
-  render_requests_[1].camera.frustum_width = viewport.width / 2.0f;
-  render_requests_[1].camera.frustum_bottom = viewport.height;
-
   if (mode_ == FrameBufferMode::Window) {
-    render_requests_[0].target = nullptr;
+    mjrRenderRequest reqs[2];
-    render_requests_[1].target = nullptr;
+    mjr_defaultRenderRequest(&reqs[0]);
-    filament_context_->Render(render_requests_);
+    reqs[0].scene = scene_bridge_->GetScene();
+    reqs[0].draw_mode = scene_bridge_->GetDrawMode();
+    reqs[0].camera = scene_bridge_->GetCamera();
+    reqs[0].width = viewport.width;
+    reqs[0].height = viewport.height;
+
+    mjr_defaultRenderRequest(&reqs[1]);
+    reqs[1].scene = imgui_bridge_->GetScene();
+    reqs[1].draw_mode = mjDRAW_MODE_COLOR;
+    reqs[1].camera = imgui_bridge_->GetCamera(viewport.width, viewport.height);
+    reqs[1].width = viewport.width;
+    reqs[1].height = viewport.height;
+    filament_context_->Render(reqs);
   }
 }
 
@@ -126,10 +93,21 @@ void MjrFilamentRenderer::ReadPixels(mjrRect viewport, unsigned char* rgb,
     mju_error("ReadPixels is only supported for offscreen rendering.");
   }
 
-  render_requests_[0].width = viewport.width;
+  mjrRenderRequest reqs[2];
-  render_requests_[0].height = viewport.height;
+  mjr_defaultRenderRequest(&reqs[0]);
-  render_requests_[1].width = viewport.width;
+
-  render_requests_[1].height = viewport.height;
+  reqs[0].scene = scene_bridge_->GetScene();
+  reqs[0].draw_mode = scene_bridge_->GetDrawMode();
+  reqs[0].camera = scene_bridge_->GetCamera();
+  reqs[0].width = viewport.width;
+  reqs[0].height = viewport.height;
+
+  mjr_defaultRenderRequest(&reqs[1]);
+  reqs[1].scene = imgui_bridge_->GetScene();
+  reqs[1].draw_mode = mjDRAW_MODE_COLOR;
+  reqs[1].camera = imgui_bridge_->GetCamera(viewport.width, viewport.height);
+  reqs[1].width = viewport.width;
+  reqs[1].height = viewport.height;
 
   if (rgb) {
     mjrRenderTargetConfig config;
@@ -139,22 +117,21 @@ void MjrFilamentRenderer::ReadPixels(mjrRect viewport, unsigned char* rgb,
     config.color_format = mjPIXEL_FORMAT_RGB8;
     config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
     auto target = CreateRenderTarget(filament_context_.get(), config);
-    render_requests_[0].target = target.get();
-    render_requests_[1].target = target.get();
 
-    const size_t num_requests =
+    reqs[0].target = target.get();
-        (mode_ == FrameBufferMode::OffScreenWithGui) ? 2 : 1;
+    reqs[1].target = target.get();
 
     mjrReadPixelsRequest read_request;
     mjr_defaultReadPixelsRequest(&read_request);
+    read_request.target = target.get();
     read_request.output = rgb;
     read_request.num_bytes = viewport.width * viewport.height * 3;
-    const mjrFrameHandle frame = filament_context_->Render(
-        {&render_requests_[0], num_requests}, {&read_request, 1});
-    filament_context_->WaitForFrame(frame);
 
-    render_requests_[0].target = nullptr;
+    const size_t num_requests =
-    render_requests_[1].target = nullptr;
+        (mode_ == FrameBufferMode::OffScreenWithGui) ? 2 : 1;
+    const mjrFrameHandle frame = filament_context_->Render(
+        {&reqs[0], num_requests}, {&read_request, 1});
+    filament_context_->WaitForFrame(frame);
   }
 
   if (depth) {
@@ -165,23 +142,19 @@ void MjrFilamentRenderer::ReadPixels(mjrRect viewport, unsigned char* rgb,
     config.color_format = mjPIXEL_FORMAT_R32F;
     config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
     auto target = CreateRenderTarget(filament_context_.get(), config);
-    render_requests_[0].target = target.get();
-    render_requests_[1].target = target.get();
 
-    mjrDrawMode last_draw_mode = render_requests_[0].draw_mode;
+    reqs[0].draw_mode = mjDRAW_MODE_DEPTH;
-    render_requests_[0].draw_mode = mjDRAW_MODE_DEPTH;
+    reqs[0].target = target.get();
 
     mjrReadPixelsRequest read_request;
     mjr_defaultReadPixelsRequest(&read_request);
+    read_request.target = target.get();
     read_request.output = reinterpret_cast<uint8_t*>(depth);
     read_request.num_bytes = viewport.width * viewport.height * sizeof(float);
-    const mjrFrameHandle frame = filament_context_->Render(
-        {&render_requests_[0], 1}, {&read_request, 1});
-    filament_context_->WaitForFrame(frame);
 
-    render_requests_[0].target = nullptr;
+    const mjrFrameHandle frame = filament_context_->Render(
-    render_requests_[1].target = nullptr;
+        {&reqs[0], 1}, {&read_request, 1});
-    render_requests_[0].draw_mode = last_draw_mode;
+    filament_context_->WaitForFrame(frame);
   }
 }
 

src/experimental/filament/compat/mjr_filament_renderer.h

@@ -80,10 +80,9 @@ class MjrFilamentRenderer {
   };
 
   std::unique_ptr<FilamentContext> filament_context_;
-  FrameBufferMode mode_ = FrameBufferMode::Window;
-  mjrRenderRequest render_requests_[2];
   std::unique_ptr<SceneBridge> scene_bridge_;
   std::unique_ptr<ImguiBridge> imgui_bridge_;
+  FrameBufferMode mode_ = FrameBufferMode::Window;
 };
 
 }  // namespace mujoco

src/experimental/filament/compat/scene_bridge.cc

@@ -252,7 +252,7 @@ void SceneBridge::PrepareLights() {
   mjrf_setSceneSkybox(scene_.get(), model_objects_->GetSkyboxTexture());
 }
 
-mat4 CalculateClipFromWorld(const mjrRect& viewport, const mjvGLCamera& cam) {
+mat4 CalculateClipFromWorld(const mjrRect& viewport, const mjrCamera& cam) {
   const float3 cam_pos(cam.pos[0], cam.pos[1], cam.pos[2]);
   const float3 cam_fwd(cam.forward[0], cam.forward[1], cam.forward[2]);
   const float3 cam_up(cam.up[0], cam.up[1], cam.up[2]);
@@ -282,6 +282,13 @@ mat4 CalculateClipFromWorld(const mjrRect& viewport, const mjvGLCamera& cam) {
 void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
   mjrf_setSceneShadowsEnabled(scene_.get(), scene->flags[mjRND_SHADOW]);
   mjrf_setSceneReflectionsEnabled(scene_.get(), scene->flags[mjRND_REFLECTION]);
+  if (scene->flags[mjRND_SEGMENT]) {
+    draw_mode_ = mjDRAW_MODE_SEGMENTATION;
+  } else if (scene->flags[mjRND_DEPTH]) {
+    draw_mode_ = mjDRAW_MODE_DEPTH;
+  } else {
+    draw_mode_ = mjDRAW_MODE_COLOR;
+  }
 
   mjtNum hpos[3], hfwd[3];
   float headpos[3], gazedir[3];
@@ -289,9 +296,8 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
   mju_n2f(headpos, hpos, 3);
   mju_n2f(gazedir, hfwd, 3);
 
-  const mjvGLCamera gl_camera =
+  camera_ = mjv_averageCamera(scene->camera, scene->camera + 1);
-      mjv_averageCamera(scene->camera, scene->camera + 1);
+  clip_from_world_ = CalculateClipFromWorld(viewport, camera_);
-  clip_from_world_ = CalculateClipFromWorld(viewport, gl_camera);
 
   // Remove all drawables from previous render and prepare new ones.
   for (auto& iter : renderables_) {
@@ -365,4 +371,10 @@ void SceneBridge::SetDrawTextFunction(DrawTextAtFn fn) {
   draw_text_callback_ = std::move(fn);
 }
 
+mjrScene* SceneBridge::GetScene() const { return scene_.get(); }
+
+mjrCamera SceneBridge::GetCamera() const { return camera_; }
+
+mjrDrawMode SceneBridge::GetDrawMode() const { return draw_mode_; }
+
 }  // namespace mujoco

src/experimental/filament/compat/scene_bridge.h

@@ -56,7 +56,9 @@ class SceneBridge {
   void SetDrawTextFunction(DrawTextAtFn fn);
 
   // Returns the managed scene.
-  mjrScene* GetScene() const { return scene_.get(); }
+  mjrScene* GetScene() const;
+  mjrCamera GetCamera() const;
+  mjrDrawMode GetDrawMode() const;
 
   SceneBridge(const SceneBridge&) = delete;
   SceneBridge& operator=(const SceneBridge&) = delete;
@@ -71,6 +73,8 @@ class SceneBridge {
 
   mjrfContext* ctx_ = nullptr;
   std::unique_ptr<ModelObjects> model_objects_;
+  mjrCamera camera_;
+  mjrDrawMode draw_mode_ = mjDRAW_MODE_COLOR;
   DrawTextAtFn draw_text_callback_;
   UniquePtr<mjrScene> scene_{nullptr, nullptr};
   UniquePtr<mjrLight> fallback_ibl_{nullptr, nullptr};

src/experimental/filament/filament/scene_view.cc

@@ -76,7 +76,7 @@ static filament::ColorGrading::Builder ToBuilder(
       .curves(opts.shadow_gamma, opts.mid_point, opts.highlight_scale);
 }
 
-static void SetupCamera(const mjvGLCamera& cam,
+static void SetupCamera(const mjrCamera& cam,
                         const filament::Viewport& viewport,
                         filament::Camera* camera) {
   const filament::Camera::Projection type =

src/experimental/filament/filament/scene_view.h

@@ -63,7 +63,7 @@ class SceneView : public mjrScene {
     // The target viewport for the rendered image.
     mjrRect viewport;
     // The camera from which to render the scene.
-    mjvGLCamera camera;
+    mjrCamera camera;
     // An optional render target into which the scene will be rendered.
     RenderTarget* target = nullptr;
   };

src/experimental/filament/render_context_filament.h

@@ -122,6 +122,7 @@ typedef std::uint64_t mjrFrameHandle;
 typedef mjtTexture mjrTextureTarget;
 typedef mjtColorSpace mjrColorSpace;
 typedef mjtLightType mjrLightType;
+typedef mjvGLCamera mjrCamera;
 
 // The textures that can be assigned to the drawable's material.
 struct mjrMaterialTextures {
@@ -367,7 +368,7 @@ struct mjrRenderRequest {
   mjrDrawMode draw_mode;
 
   // The camera from which to render the scene.
-  mjvGLCamera camera;
+  mjrCamera camera;
 
   // The dimensions of the output image.
   int width;