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Correctly apply visibility state from mjvOption.

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PiperOrigin-RevId: 948792559
Change-Id: Ic0357c7841519e8e5c903b45f045831745f0b2b3
This commit is contained in:
Haroon Qureshi
2026-07-16 00:23:15 -07:00
committed by Copybara-Service
parent f841b67c17
commit 3b63fbc6ba
2 changed files with 207 additions and 126 deletions
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src/render/filament/support/renderable_manager.cc
+179 -111
View File
@@ -14,15 +14,15 @@
#include "render/filament/support/renderable_manager.h"
#include <cmath>
#include <array>
#include <memory>
#include <optional>
#include <span>
#include <utility>
#include <vector>
#include <math/TVecHelpers.h>
#include <math/mat3.h>
#include <math/quat.h>
#include <math/TVecHelpers.h>
#include <math/vec3.h>
#include <math/vec4.h>
#include <mujoco/mjdata.h>
@@ -208,11 +208,10 @@ RenderableManager::~RenderableManager() {
mjrf_removeRenderableFromScene(scene_, renderable.get());
}
}
for (auto& renderable : sliders_) {
mjrf_removeRenderableFromScene(scene_, renderable.get());
}
for (auto& renderable : cranks_) {
mjrf_removeRenderableFromScene(scene_, renderable.get());
for (auto& [_, renderables] : slider_cranks_) {
for (auto& renderable : renderables) {
mjrf_removeRenderableFromScene(scene_, renderable.get());
}
}
}
@@ -237,8 +236,8 @@ void RenderableManager::Update(const mjData* data) {
const bool smooth_skinning = vopts_.flags[mjVIS_FLEXSKIN];
const bool edges = !smooth_skinning && vopts_.flags[mjVIS_FLEXEDGE];
const bool vertices = !smooth_skinning && vopts_.flags[mjVIS_FLEXVERT];
auto mesh = CreateFlexMesh(ctx, model, data, i, flex_layer,
smooth_skinning, edges, vertices);
auto mesh = CreateFlexMesh(ctx, model, data, i, flex_layer, smooth_skinning,
edges, vertices);
mjrf_setRenderableMesh(flexes_[i].get(), mesh.get(), 0, 0);
flex_meshes_[i] = std::move(mesh);
}
@@ -253,12 +252,10 @@ void RenderableManager::Update(const mjData* data) {
UpdateSpatialTendons(data, i);
}
int renderable_index = 0;
for (int i = 0; i < model->nu; i++) {
if (model->actuator_trntype[i] != mjTRN_SLIDERCRANK) {
continue;
if (model->actuator_trntype[i] == mjTRN_SLIDERCRANK) {
UpdateSliderCranks(data, i);
}
UpdateSliderCranks(data, i, renderable_index++);
}
if (vopts_.flags[mjVIS_ISLAND]) {
@@ -293,13 +290,13 @@ void RenderableManager::Update(const mjData* data) {
if (model->flex_interp[i]) {
int nodeadr = model->flex_nodeadr[i];
for (int j = 0; j < model->flex_nodenum[i] && bodyid < 0; j++) {
int b = model->flex_nodebodyid[nodeadr+j];
int b = model->flex_nodebodyid[nodeadr + j];
if (model->body_treeid[b] >= 0) bodyid = b;
}
} else {
int vertadr = model->flex_vertadr[i];
for (int j=0; j < model->flex_vertnum[i] && bodyid < 0; j++) {
int b = model->flex_vertbodyid[vertadr+j];
for (int j = 0; j < model->flex_vertnum[i] && bodyid < 0; j++) {
int b = model->flex_vertbodyid[vertadr + j];
if (model->body_treeid[b] >= 0) bodyid = b;
}
}
@@ -328,8 +325,8 @@ void RenderableManager::Update(const mjData* data) {
}
}
mjrfRenderable* RenderableManager::GetRenderable(mjtObj obj_type,
int obj_index) {
mjrfRenderable* RenderableManager::GetRenderable(mjtObj obj_type, int obj_index,
int sub_index) {
switch (obj_type) {
case mjOBJ_GEOM:
if (obj_index >= 0 && obj_index < geoms_.size()) {
@@ -351,9 +348,20 @@ mjrfRenderable* RenderableManager::GetRenderable(mjtObj obj_type,
return skins_[obj_index].get();
}
break;
case mjOBJ_TENDON:
if (obj_index >= 0 && obj_index < tendons_.size()) {
auto& segments = tendons_[obj_index];
if (sub_index >= 0 && sub_index < segments.size()) {
return segments[sub_index].get();
}
}
break;
case mjOBJ_ACTUATOR:
if (obj_index >= 0 && obj_index < sliders_.size()) {
return sliders_[obj_index].get();
if (auto it = slider_cranks_.find(obj_index);
it != slider_cranks_.end()) {
if (sub_index >= 0 && sub_index < it->second.size()) {
return it->second[sub_index].get();
}
}
break;
case mjOBJ_BODY: {
@@ -488,8 +496,6 @@ void RenderableManager::AddSliderCrankGeoms() {
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
sliders_.reserve(model->nu);
cranks_.reserve(model->nu);
for (int i = 0; i < model->nu; i++) {
if (model->actuator_trntype[i] != mjTRN_SLIDERCRANK) {
continue;
@@ -500,18 +506,26 @@ void RenderableManager::AddSliderCrankGeoms() {
mjrf_setRenderableGeomMesh(slider.get(), mjGEOM_CYLINDER, nstack, nslice,
nquad);
mjrf_addRenderableToScene(scene_, slider.get());
sliders_.emplace_back(std::move(slider));
auto crank = CreateRenderable(ctx, params);
mjrf_setRenderableGeomMesh(crank.get(), mjGEOM_CAPSULE, nstack, nslice,
nquad);
mjrf_addRenderableToScene(scene_, crank.get());
cranks_.emplace_back(std::move(crank));
std::array<UniquePtr<mjrfRenderable>, 2> pair{std::move(slider),
std::move(crank)};
slider_cranks_.emplace(i, std::move(pair));
}
}
void RenderableManager::UpdateSliderCranks(const mjData* data, int actuator_id,
int index) {
void RenderableManager::UpdateSliderCranks(const mjData* data,
int actuator_id) {
auto it = slider_cranks_.find(actuator_id);
if (it == slider_cranks_.end()) {
mju_error("Slider/crank not found: %d", actuator_id);
return;
}
const mjModel* model = model_objects_->GetModel();
const float scale = model->stat.meansize;
const float slider_width = scale * model->vis.scale.slidercrank;
@@ -539,8 +553,8 @@ void RenderableManager::UpdateSliderCranks(const mjData* data, int actuator_id,
const float3 end = slider_pos + (axis * len);
mjrfRenderable* slider = sliders_[index].get();
mjrfRenderable* crank = cranks_[index].get();
mjrfRenderable* slider = it->second[0].get();
mjrfRenderable* crank = it->second[1].get();
Connect(slider, slider_pos, end, slider_width);
Connect(crank, end, crank_pos, crank_width);
@@ -583,7 +597,8 @@ void RenderableManager::RemoveSegmentFromTendon(int tendon_id) {
segments.pop_back();
}
void RenderableManager::UpdateSpatialTendons(const mjData* data, int tendon_id) {
void RenderableManager::UpdateSpatialTendons(const mjData* data,
int tendon_id) {
const mjModel* model = model_objects_->GetModel();
// Gather the points that define the tendon. We'll use a simple cache to avoid
@@ -869,85 +884,96 @@ mjrfMaterial RenderableManager::GetDefaultMaterial(mjtObj obj_type,
return material;
}
void RenderableManager::SelectObject(mjtObj obj_type, int obj_index) {
if (obj_type != selected_obj_type_ || obj_index != selected_obj_index_) {
mjrfMaterial material;
namespace {
enum VisibilityOp { kNoop, kShow, kHide };
}
mjrfRenderable* prev_renderable =
GetRenderable(selected_obj_type_, selected_obj_index_);
if (prev_renderable) {
mjrf_getRenderableMaterial(prev_renderable, &material);
material.selected = 0;
mjrf_setRenderableMaterial(prev_renderable, &material);
static void DetermineVisibilities(VisibilityOp* ops, mjtByte* vis_by_group,
mjtByte* vis_by_flag, int idx, bool visible) {
const bool prev_global_vis = vis_by_flag ? *vis_by_flag : true;
const bool curr_global_vis = idx == mjNGROUP ? visible : prev_global_vis;
for (int i = 0; i < mjNGROUP; ++i) {
const bool prev_group_vis = vis_by_group[i];
const bool curr_group_vis = idx == i ? visible : prev_group_vis;
const bool previously_visible = prev_global_vis && prev_group_vis;
const bool currently_visible = curr_global_vis && curr_group_vis;
if (previously_visible == currently_visible) {
ops[i] = kNoop;
} else if (currently_visible) {
ops[i] = kShow;
} else {
ops[i] = kHide;
}
}
selected_obj_type_ = obj_type;
selected_obj_index_ = obj_index;
if (idx < mjNGROUP) {
vis_by_group[idx] = visible;
} else if (vis_by_flag) {
*vis_by_flag = visible;
}
}
mjrfRenderable* curr_renderable =
GetRenderable(selected_obj_type_, selected_obj_index_);
if (curr_renderable) {
mjrf_getRenderableMaterial(curr_renderable, &material);
material.selected = 1;
mjrf_setRenderableMaterial(curr_renderable, &material);
static void ApplyVisibility(VisibilityOp* ops, int group, mjrfScene* scene,
std::span<UniquePtr<mjrfRenderable>> renderables) {
const VisibilityOp op = ops[group];
if (op == kShow) {
for (auto& renderable : renderables) {
mjrf_addRenderableToScene(scene, renderable.get());
}
} else if (op == kHide) {
for (auto& renderable : renderables) {
mjrf_removeRenderableFromScene(scene, renderable.get());
}
}
}
void RenderableManager::SetVisibility(mjtObj obj_type, bool visible,
std::optional<int> group) {
void RenderableManager::SetVisibility(mjtObj obj_type, int idx, bool visible) {
const mjModel* model = model_objects_->GetModel();
VisibilityOp ops[mjNGROUP] = {kNoop};
switch (obj_type) {
case mjOBJ_GEOM:
if (group.has_value()) {
if (vopts_.geomgroup[group.value()] == visible) {
return;
}
for (int i = 0; i < model->ngeom; ++i) {
if (model->geom_group[i] != group.value()) {
continue;
}
mjrfRenderable* renderable = geoms_[i].get();
if (visible) {
mjrf_addRenderableToScene(scene_, renderable);
} else {
mjrf_removeRenderableFromScene(scene_, renderable);
}
}
} else {
mju_error("Unsupported object type: %d", obj_type);
DetermineVisibilities(ops, vopts_.geomgroup, nullptr, idx, visible);
for (int i = 0; i < model->ngeom; ++i) {
ApplyVisibility(ops, model->geom_group[i], scene_, {&geoms_[i], 1});
}
break;
case mjOBJ_SITE:
if (group.has_value()) {
if (vopts_.sitegroup[group.value()] == visible) {
return;
}
for (int i = 0; i < model->nsite; ++i) {
if (model->site_group[i] != group.value()) {
continue;
}
mjrfRenderable* renderable = sites_[i].get();
if (visible) {
mjrf_addRenderableToScene(scene_, renderable);
} else {
mjrf_removeRenderableFromScene(scene_, renderable);
}
}
} else {
mju_error("Unsupported object type: %d", obj_type);
DetermineVisibilities(ops, vopts_.sitegroup, nullptr, idx, visible);
for (int i = 0; i < model->nsite; ++i) {
ApplyVisibility(ops, model->site_group[i], scene_, {&sites_[i], 1});
}
break;
case mjOBJ_JOINT:
break;
case mjOBJ_TENDON:
break;
case mjOBJ_ACTUATOR:
break;
case mjOBJ_FLEX:
DetermineVisibilities(ops, vopts_.flexgroup, &vopts_.flags[mjVIS_FLEXSKIN], idx, visible);
for (int i = 0; i < model->nflex; ++i) {
ApplyVisibility(ops, model->flex_group[i], scene_, {&flexes_[i], 1});
}
break;
case mjOBJ_SKIN:
DetermineVisibilities(ops, vopts_.skingroup, &vopts_.flags[mjVIS_SKIN], idx, visible);
for (int i = 0; i < model->nskin; ++i) {
ApplyVisibility(ops, model->skin_group[i], scene_, {&skins_[i], 1});
}
break;
case mjOBJ_TENDON:
DetermineVisibilities(ops, vopts_.tendongroup, &vopts_.flags[mjVIS_TENDON], idx, visible);
for (int i = 0; i < model->ntendon; ++i) {
ApplyVisibility(ops, model->tendon_group[i], scene_, tendons_[i]);
}
break;
case mjOBJ_ACTUATOR:
DetermineVisibilities(ops, vopts_.actuatorgroup, &vopts_.flags[mjVIS_ACTUATOR], idx, visible);
for (int i = 0; i < model->nu; ++i) {
auto it = slider_cranks_.find(i);
if (it == slider_cranks_.end()) {
continue;
}
ApplyVisibility(ops, model->actuator_group[i], scene_, it->second);
}
break;
default:
mju_error("Unsupported object type: %d", obj_type);
@@ -955,31 +981,49 @@ void RenderableManager::SetVisibility(mjtObj obj_type, bool visible,
}
}
void RenderableManager::Apply(const mjvOption& vopts) {
void RenderableManager::SetOptions(const mjvOption& opt) {
const mjModel* model = model_objects_->GetModel();
for (int i = 0; i < mjNGROUP; ++i) {
SetVisibility(mjOBJ_GEOM, vopts.geomgroup[i], i);
SetVisibility(mjOBJ_SITE, vopts.sitegroup[i], i);
SetVisibility(mjOBJ_JOINT, vopts.jointgroup[i], i);
SetVisibility(mjOBJ_TENDON, vopts.tendongroup[i], i);
SetVisibility(mjOBJ_ACTUATOR, vopts.actuatorgroup[i], i);
SetVisibility(mjOBJ_FLEX, vopts.flexgroup[i], i);
SetVisibility(mjOBJ_SKIN, vopts.skingroup[i], i);
}
SetVisibility(mjOBJ_JOINT, vopts.flags[mjVIS_JOINT]);
SetVisibility(mjOBJ_TENDON, vopts.flags[mjVIS_TENDON]);
SetVisibility(mjOBJ_ACTUATOR, vopts.flags[mjVIS_ACTUATOR]);
SetVisibility(mjOBJ_SKIN, vopts.flags[mjVIS_SKIN]);
SetVisibility(mjOBJ_FLEX, vopts.flags[mjVIS_FLEXSKIN]);
// Swap geoms between convex and non-convex meshes based on flags.
if (vopts.flags[mjVIS_CONVEXHULL] != vopts_.flags[mjVIS_CONVEXHULL]) {
for (int i = 0; i < mjNGROUP; ++i) {
if (vopts_.geomgroup[i] != opt.geomgroup[i]) {
SetVisibility(mjOBJ_GEOM, i, opt.geomgroup[i]);
}
if (vopts_.sitegroup[i] != opt.sitegroup[i]) {
SetVisibility(mjOBJ_SITE, i, opt.sitegroup[i]);
}
if (vopts_.skingroup[i] != opt.skingroup[i]) {
SetVisibility(mjOBJ_SKIN, i, opt.skingroup[i]);
}
if (vopts_.flexgroup[i] != opt.flexgroup[i]) {
SetVisibility(mjOBJ_FLEX, i, opt.flexgroup[i]);
}
if (vopts_.tendongroup[i] != opt.tendongroup[i]) {
SetVisibility(mjOBJ_TENDON, i, opt.tendongroup[i]);
}
if (vopts_.actuatorgroup[i] != opt.actuatorgroup[i]) {
SetVisibility(mjOBJ_ACTUATOR, i, opt.actuatorgroup[i]);
}
}
if (vopts_.flags[mjVIS_SKIN] != opt.flags[mjVIS_SKIN]) {
SetVisibility(mjOBJ_SKIN, mjNGROUP, opt.flags[mjVIS_SKIN]);
}
if (vopts_.flags[mjVIS_FLEXSKIN] != opt.flags[mjVIS_FLEXSKIN]) {
SetVisibility(mjOBJ_FLEX, mjNGROUP, opt.flags[mjVIS_FLEXSKIN]);
}
if (vopts_.flags[mjVIS_TENDON] != opt.flags[mjVIS_TENDON]) {
SetVisibility(mjOBJ_TENDON, mjNGROUP, opt.flags[mjVIS_TENDON]);
}
if (vopts_.flags[mjVIS_ACTUATOR] != opt.flags[mjVIS_ACTUATOR]) {
SetVisibility(mjOBJ_ACTUATOR, mjNGROUP, opt.flags[mjVIS_ACTUATOR]);
}
if (vopts_.flags[mjVIS_CONVEXHULL] != opt.flags[mjVIS_CONVEXHULL]) {
for (int i = 0; i < model->ngeom; ++i) {
const mjtGeom geom_type = (mjtGeom)model->geom_type[i];
if (geom_type == mjGEOM_MESH || geom_type == mjGEOM_SDF) {
mjrfRenderable* renderable = geoms_[i].get();
const int mesh_id =
model->geom_dataid[i] * 2 + (vopts.flags[mjVIS_CONVEXHULL] ? 1 : 0);
model->geom_dataid[i] * 2 + (opt.flags[mjVIS_CONVEXHULL] ? 1 : 0);
const mjrfMesh* mesh = model_objects_->GetMesh(mesh_id);
if (mesh) {
mjrf_setRenderableMesh(renderable, mesh, 0, 0);
@@ -988,10 +1032,9 @@ void RenderableManager::Apply(const mjvOption& vopts) {
}
}
// Adjust alpha of dynamic geoms based on transparent flag.
if (vopts.flags[mjVIS_TRANSPARENT] != vopts_.flags[mjVIS_TRANSPARENT]) {
if (vopts_.flags[mjVIS_TRANSPARENT] != opt.flags[mjVIS_TRANSPARENT]) {
float multiplier = model->vis.map.alpha;
if (!vopts.flags[mjVIS_TRANSPARENT]) {
if (!opt.flags[mjVIS_TRANSPARENT]) {
multiplier = 1.0f / multiplier;
}
@@ -1006,7 +1049,32 @@ void RenderableManager::Apply(const mjvOption& vopts) {
}
}
vopts_ = vopts;
vopts_ = opt;
}
void RenderableManager::MarkAsSelected(mjtObj obj_type, int obj_index) {
if (obj_type != selected_obj_type_ || obj_index != selected_obj_index_) {
mjrfMaterial material;
mjrfRenderable* prev_renderable = GetRenderable(
selected_obj_type_, selected_obj_index_);
if (prev_renderable) {
mjrf_getRenderableMaterial(prev_renderable, &material);
material.selected = 0;
mjrf_setRenderableMaterial(prev_renderable, &material);
}
selected_obj_type_ = obj_type;
selected_obj_index_ = obj_index;
mjrfRenderable* curr_renderable = GetRenderable(
selected_obj_type_, selected_obj_index_);
if (curr_renderable) {
mjrf_getRenderableMaterial(curr_renderable, &material);
material.selected = 1;
mjrf_setRenderableMaterial(curr_renderable, &material);
}
}
}
} // namespace mujoco
src/render/filament/support/renderable_manager.h
+28 -15
View File
@@ -15,7 +15,8 @@
#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_RENDERABLE_MANAGER_H_
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_RENDERABLE_MANAGER_H_
#include <optional>
#include <array>
#include <unordered_map>
#include <vector>
#include <math/vec4.h>
#include <mujoco/mjdata.h>
@@ -38,7 +39,13 @@ class RenderableManager {
void Update(const mjData* data);
// Returns the renderable corresponding to the given model object.
mjrfRenderable* GetRenderable(mjtObj obj_type, int obj_index);
// For most objects, the sub_index is ignored. For slider-crank actuators,
// sub_index=0 returns the slider, sub_index=1 returns the crank. For tendons,
// sub_index is the tendon segment index. The number of segments can vary
// between frames so is undefined. If obj_type == mjOBJ_BODY, returns the
// geom or site associated with the body.
mjrfRenderable* GetRenderable(mjtObj obj_type, int obj_index,
int sub_index = -1);
// Returns the default material (as defined in the mjModel) for the given
// object. Useful if you want to "reset" the material of a renderable back
@@ -47,15 +54,21 @@ class RenderableManager {
// Marks the given object as "selected", unmarking any previously selected
// object.
void SelectObject(mjtObj obj_type, int obj_index);
void MarkAsSelected(mjtObj obj_type, int obj_index);
// Sets the visibility of all renderables of the given type. If `group` is
// specified, only applies to renderables in that group.
void SetVisibility(mjtObj obj_type, bool visible,
std::optional<int> group = std::nullopt);
// Sets the visualization options on the renderables. The following options
// are supported:
// - shows/hides renderables based on the group visibility
// - shows/hides renderables based on mjVIS_SKIN, mjVIS_FLEXSKIN,
// mjVIS_TENDON, and mjVIS_ACTUATOR flags
// - adds island state to materials if mjVIS_ISLAND is enabled
// - switches meshes to convex hull mode if mjVIS_CONVEXHULL is enabled
// - adjusts alpha values if mjVIS_TRANSPARENT is enabled
void SetOptions(const mjvOption& opt);
// Returns the current visualization options.
const mjvOption& GetOptions() const { return vopts_; }
// Applies the visualization options to the renderables in the scene.
void Apply(const mjvOption& vopts);
RenderableManager(const RenderableManager&) = delete;
RenderableManager& operator=(const RenderableManager&) = delete;
@@ -70,29 +83,29 @@ class RenderableManager {
void UpdateSpatialTendons(const mjData* data, int tendon_id);
void AppendSegmentToTendon(int tendon_id);
void RemoveSegmentFromTendon(int tendon_id);
void UpdateSliderCranks(const mjData* data, int actuator_id, int index);
void UpdateSliderCranks(const mjData* data, int actuator_id);
int GetSegmentationId(mjtObj obj_type, int obj_index);
void SetVisibility(mjtObj obj_type, int idx, bool visible);
mjrfScene* scene_;
ModelObjects* model_objects_;
mjvOption vopts_;
mjtObj selected_obj_type_ = mjOBJ_UNKNOWN;
int selected_obj_index_ = -1;
std::vector<UniquePtr<mjrfRenderable>> geoms_;
std::vector<UniquePtr<mjrfRenderable>> sites_;
std::vector<UniquePtr<mjrfRenderable>> flexes_;
std::vector<UniquePtr<mjrfRenderable>> skins_;
std::vector<UniquePtr<mjrfRenderable>> sliders_;
std::vector<UniquePtr<mjrfRenderable>> cranks_;
std::unordered_map<int, std::array<UniquePtr<mjrfRenderable>, 2>> slider_cranks_;
std::vector<std::vector<UniquePtr<mjrfRenderable>>> tendons_;
std::vector<UniquePtr<mjrfMesh>> flex_meshes_;
std::vector<UniquePtr<mjrfMesh>> skin_meshes_;
std::vector<filament::math::float4> point_cache_;
mjtObj selected_obj_type_ = mjOBJ_UNKNOWN;
int selected_obj_index_ = -1;
};
} // namespace mujoco