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Support multiscene, multiview rendering.

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Update Renderable so that it can switch its own draw states (material
instance, shadow casting, reflection textures, etc.) per render request.
This allows us to use the same Renderable with different effects from
different views within the same frame.

PiperOrigin-RevId: 922102817
Change-Id: I1cf02fddb7a00345a741db1bee88e716517765f4
This commit is contained in:
Haroon Qureshi
2026-05-27 06:54:23 -07:00
committed by Copybara-Service
parent c0b8aa9dec
commit 36ea0c466f
12 changed files with 321 additions and 219 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/filament/compat/scene_geom_util.cc
+5 -35
View File
@@ -40,12 +40,6 @@ static float GetPlaneTileSize(const mjModel* model, int matid,
}
}
static bool IsBehind(const float* headpos, const float* pos, const float* mat) {
return ((headpos[0] - pos[0]) * mat[2] + (headpos[1] - pos[1]) * mat[5] +
(headpos[2] - pos[2]) * mat[8] <
0.0f);
}
static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
ModelObjects* model_objs) {
const mjModel* model = model_objs->GetModel();
@@ -69,19 +63,8 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
break;
case mjGEOM_PLANE: {
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
float size[3];
std::memcpy(size, &geom.size, 3 * sizeof(float));
const bool is_infinite = !(size[0] > 0 && size[1] > 0);
if (is_infinite) {
// Infinite planes are scaled to match the tile size used by
// re-centering in engine_vis_visualize.c.
const float plane_scale = static_cast<float>(mjMAXPLANEGRID) / 2.0f;
size[0] = plane_scale;
size[1] = plane_scale;
}
// Planes only define an xy size, so set the z-dimension to 1.0f.
size[2] = 1.0f;
const float size[3] = {geom.size[0], geom.size[1], 1.0f};
mjrf_setRenderableSize(renderable, size);
break;
}
@@ -160,7 +143,7 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
}
static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
ModelObjects* model_objs, const float headpos[3],
ModelObjects* model_objs,
const mjtByte render_flags[mjNRNDFLAG]) {
const mjModel* model = model_objs->GetModel();
@@ -175,21 +158,8 @@ static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
material.color[1] = geom.rgba[1];
material.color[2] = geom.rgba[2];
material.color[3] = geom.rgba[3];
if (geom.type == mjGEOM_PLANE) {
if (IsBehind(headpos, geom.pos, geom.mat)) {
material.color[3] *= 0.3;
mjrf_setRenderableReceiveShadows(renderable, false);
material.reflective = false;
} else {
mjrf_setRenderableReceiveShadows(renderable, true);
material.reflective = geom.reflectance > 0 && material.color[3] == 1.0f;
}
}
mjrf_setRenderableLayerMask(renderable, geom.category);
if (geom.category == mjCAT_DECOR) {
mjrf_setRenderableCastShadows(renderable, false);
mjrf_setRenderableReceiveShadows(renderable, false);
}
if (geom.matid >= 0 && geom.matid < model->nmat) {
auto get_texture = [&](int role) -> const mjrTexture* {
@@ -310,12 +280,12 @@ static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
UniquePtr<mjrRenderable> CreateGeomRenderable(
const mjvGeom& geom, mjrfContext* ctx, ModelObjects* model_objs,
const float headpos[3], const mjtByte render_flags[mjNRNDFLAG]) {
const mjtByte render_flags[mjNRNDFLAG]) {
mjrRenderableParams params;
mjr_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx, params);
PrepareGeomMeshes(renderable.get(), geom, model_objs);
UpdateGeomMaterial(renderable.get(), geom, model_objs, headpos, render_flags);
UpdateGeomMaterial(renderable.get(), geom, model_objs, render_flags);
return renderable;
}
} // namespace mujoco