chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Allow Transforms to be set directly on Renderable.

Browse Source 
Also allow multiple Meshes to be assigned at once rather than one at a
time.

This simplifies both the usage and implementation of Renderable.

PiperOrigin-RevId: 902665683
Change-Id: I23ff365a54fd6a3814ed3452b1e094ae9f698a1b
This commit is contained in:
Haroon Qureshi
2026-04-20 09:05:43 -07:00
committed by Copybara-Service
parent b2281883dd
commit 476e2e909e
8 changed files with 343 additions and 353 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/filament/filament/filament_context.cc
-2
View File
@@ -156,7 +156,6 @@ void FilamentContext::Render(const mjrRect& viewport, const mjvScene* scene) {
request.viewport = viewport; request.viewport = viewport;
request.camera = last_camera_; request.camera = last_camera_;
request.enable_ux = (gui_swap_chain_target_ == kWindowSwapChain); request.enable_ux = (gui_swap_chain_target_ == kWindowSwapChain);
request.gui_scale = imgui_bridge_ ? imgui_bridge_->GetScale() : 1.0f;
scene_view_->Render(renderer_, request); scene_view_->Render(renderer_, request);
renderer_->endFrame(); renderer_->endFrame();
} }
@@ -233,7 +232,6 @@ void FilamentContext::ReadPixels(mjrRect viewport, unsigned char* rgb,
request.target = color_target_.get(); request.target = color_target_.get();
request.camera = last_camera_; request.camera = last_camera_;
request.enable_ux = (gui_swap_chain_target_ == kOffscreenSwapChain); request.enable_ux = (gui_swap_chain_target_ == kOffscreenSwapChain);
request.gui_scale = imgui_bridge_ ? imgui_bridge_->GetScale() : 1.0f;
scene_view_->Render(renderer_, request); scene_view_->Render(renderer_, request);
const size_t num_bytes = viewport.width * viewport.height * 3; const size_t num_bytes = viewport.width * viewport.height * 3;
src/experimental/filament/filament/imgui_bridge.cc
+8 -9
View File
@@ -21,6 +21,8 @@
#include <vector> #include <vector>
#include <imgui.h> #include <imgui.h>
#include <math/mat3.h>
#include <math/vec3.h>
#include <math/vec4.h> #include <math/vec4.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "experimental/filament/filament/material.h" #include "experimental/filament/filament/material.h"
@@ -32,6 +34,9 @@
namespace mujoco { namespace mujoco {
using filament::math::float3;
using filament::math::mat3f;
ImguiBridge::ImguiBridge(ObjectManager* object_mgr, SceneView* scene_view) ImguiBridge::ImguiBridge(ObjectManager* object_mgr, SceneView* scene_view)
: object_mgr_(object_mgr), scene_view_(scene_view) {} : object_mgr_(object_mgr), scene_view_(scene_view) {}
@@ -235,11 +240,7 @@ void ImguiBridge::Update() {
const int height = size.y * scale.y; const int height = size.y * scale.y;
auto& renderable = renderables_[renderable_index]; auto& renderable = renderables_[renderable_index];
if (renderable->GetNumMeshes() == 0) { renderable->SetMesh(mesh, index_offset, command.ElemCount);
renderable->AppendMesh(mesh, index_offset, command.ElemCount);
} else {
renderable->UpdateMesh(0, mesh, index_offset, command.ElemCount);
}
MaterialTextures textures; MaterialTextures textures;
textures.color = textures_[command.GetTexID()].get(); textures.color = textures_[command.GetTexID()].get();
@@ -259,6 +260,8 @@ void ImguiBridge::Update() {
properties.scissor[3] = height; properties.scissor[3] = height;
} }
renderable->UpdateMaterial(properties, textures); renderable->UpdateMaterial(properties, textures);
renderable->SetTransform(
{float3{0, 0, 0}, mat3f(), float3(scale.x, scale.y, 1.0f)});
index_offset += command.ElemCount; index_offset += command.ElemCount;
++renderable_index; ++renderable_index;
@@ -284,10 +287,6 @@ void ImguiBridge::PrepareRenderables(int count) {
} }
} }
float ImguiBridge::GetScale() const {
return ImGui::GetIO().DisplayFramebufferScale.x;
}
static ImVec2 ClipSpaceToWindowCoordinates(float x, float y) { static ImVec2 ClipSpaceToWindowCoordinates(float x, float y) {
const ImVec2& display_size = ImGui::GetIO().DisplaySize; const ImVec2& display_size = ImGui::GetIO().DisplaySize;
const float pos_x = display_size.x * ((x + 1) * 0.5f); const float pos_x = display_size.x * ((x + 1) * 0.5f);
src/experimental/filament/filament/imgui_bridge.h
-3
View File
@@ -40,9 +40,6 @@ class ImguiBridge {
// synced. // synced.
void Update(); void Update();
// Returns the current ImGui scale factor.
float GetScale() const;
// Uploads texture to be used with ImGui's Image and ImageButton functions. // 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, uintptr_t UploadImage(uintptr_t tex_id, const uint8_t* pixels, int width,
int height, int bpp); int height, int bpp);
src/experimental/filament/filament/renderable.cc
+106 -107
View File
@@ -16,20 +16,26 @@
#include <algorithm> #include <algorithm>
#include <cstdint> #include <cstdint>
#include <span>
#include <filament/Engine.h> #include <filament/Engine.h>
#include <filament/Material.h> #include <filament/Material.h>
#include <filament/RenderableManager.h> #include <filament/RenderableManager.h>
#include <filament/Scene.h> #include <filament/Scene.h>
#include <filament/TransformManager.h>
#include <math/mat4.h>
#include <utils/EntityManager.h> #include <utils/EntityManager.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "experimental/filament/filament/draw_mode.h" #include "experimental/filament/filament/draw_mode.h"
#include "experimental/filament/filament/material.h" #include "experimental/filament/filament/material.h"
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/filament/mesh.h" #include "experimental/filament/filament/mesh.h"
#include "experimental/filament/filament/object_manager.h" #include "experimental/filament/filament/object_manager.h"
namespace mujoco { namespace mujoco {
using filament::math::mat4f;
void DefaultRenderableParams(RenderableParams* params) { void DefaultRenderableParams(RenderableParams* params) {
params->shading_model = ShadingModel::SceneObject; params->shading_model = ShadingModel::SceneObject;
} }
@@ -38,68 +44,77 @@ Renderable::Renderable(ObjectManager* object_mgr, const RenderableParams& params
: object_mgr_(object_mgr), params_(params) {} : object_mgr_(object_mgr), params_(params) {}
Renderable::~Renderable() noexcept { Renderable::~Renderable() noexcept {
while (!entities_.empty()) { filament::Engine* engine = GetEngine();
RemoveLastEntity(); utils::EntityManager& em = utils::EntityManager::get();
for (Part& part : parts_) {
if (assigned_scene_) {
assigned_scene_->remove(part.entity);
}
engine->destroy(part.entity);
em.destroy(part.entity);
} }
for (int i = 0; i < kNumDrawModes; ++i) { for (int i = 0; i < kNumDrawModes; ++i) {
if (instances_[i] != nullptr) { if (instances_[i] != nullptr) {
GetEngine()->destroy(instances_[i]); engine->destroy(instances_[i]);
instances_[i] = nullptr; instances_[i] = nullptr;
} }
} }
} }
void Renderable::RemoveLastEntity() { void Renderable::SetMesh(const Mesh* mesh, int elem_offset, int elem_count) {
if (entities_.empty()) { if (mesh == nullptr) {
return; mju_error("Cannot set mesh to nullptr.");
} }
utils::EntityManager& em = utils::EntityManager::get();
utils::Entity entity = entities_.back();
if (assigned_scene_) {
assigned_scene_->remove(entity);
}
GetEngine()->destroy(entity);
em.destroy(entity);
entities_.pop_back();
meshes_.pop_back();
}
void Renderable::UpdateMesh(int index, const Mesh* mesh, int elem_offset,
int elem_count) {
MeshInfo& mesh_info = SetMesh(index, mesh, elem_offset, elem_count);
UpdateEntity(index, mesh_info);
}
void Renderable::AppendMesh(const Mesh* mesh, int elem_offset, int elem_count) {
MeshInfo& mesh_info = SetMesh(-1, mesh, elem_offset, elem_count);
AppendEntity(mesh_info);
}
void Renderable::AppendEntity(const MeshInfo& mesh_info) {
const Mesh* mesh = mesh_info.mesh;
filament::VertexBuffer* vertex_buffer = mesh->GetFilamentVertexBuffer(); filament::VertexBuffer* vertex_buffer = mesh->GetFilamentVertexBuffer();
if (vertex_buffer == nullptr) { if (vertex_buffer == nullptr) {
mju_error("Invalid (null) vertex buffer."); mju_error("Invalid (null) vertex buffer.");
} }
filament::IndexBuffer* index_buffer = mesh->GetFilamentIndexBuffer(); filament::IndexBuffer* index_buffer = mesh->GetFilamentIndexBuffer();
if (index_buffer == nullptr) { if (index_buffer == nullptr) {
mju_error("Invalid (null) index buffer."); mju_error("Invalid (null) index buffer.");
} }
utils::Entity entity = utils::EntityManager::get().create(); if (elem_count == 0) {
if (entity.isNull()) { elem_count = index_buffer->getIndexCount() - elem_offset;
}
if (parts_.empty()) {
Part& part = parts_.emplace_back();
part.mesh = mesh;
part.elem_offset = elem_offset;
part.elem_count = elem_count;
InitPartEntity(part);
} else if (parts_.size() == 1) {
Part& part = parts_[0];
part.mesh = mesh;
part.elem_offset = elem_offset;
part.elem_count = elem_count;
filament::RenderableManager& rm = GetEngine()->getRenderableManager();
rm.setGeometryAt(rm.getInstance(part.entity), 0,
part.mesh->GetPrimitiveType(), vertex_buffer, index_buffer,
part.elem_offset, part.elem_count);
} else {
mju_error("Cannot set mesh for renderable with multiple parts.");
}
}
void Renderable::InitPartEntity(Part& part) {
part.entity = utils::EntityManager::get().create();
if (part.entity.isNull()) {
mju_error("Failed to create entity."); mju_error("Failed to create entity.");
} }
filament::VertexBuffer* vertex_buffer = part.mesh->GetFilamentVertexBuffer();
filament::IndexBuffer* index_buffer = part.mesh->GetFilamentIndexBuffer();
filament::RenderableManager::Builder builder(1); filament::RenderableManager::Builder builder(1);
builder.geometry(0, mesh->GetPrimitiveType(), vertex_buffer, index_buffer, builder.geometry(0, part.mesh->GetPrimitiveType(), vertex_buffer, index_buffer,
mesh_info.elem_offset, mesh_info.elem_count); part.elem_offset, part.elem_count);
if (mesh->HasBounds()) { if (part.mesh->HasBounds()) {
builder.boundingBox(mesh->GetBounds()); builder.boundingBox(part.mesh->GetBounds());
} else { } else {
builder.culling(false); builder.culling(false);
} }
@@ -113,56 +128,43 @@ void Renderable::AppendEntity(const MeshInfo& mesh_info) {
builder.blendOrder(0, blend_order_); builder.blendOrder(0, blend_order_);
builder.screenSpaceContactShadows(true); builder.screenSpaceContactShadows(true);
builder.build(*GetEngine(), entity); builder.build(*GetEngine(), part.entity);
if (assigned_scene_) { if (assigned_scene_) {
assigned_scene_->addEntity(entity); assigned_scene_->addEntity(part.entity);
} }
entities_.push_back(entity);
} }
void Renderable::UpdateEntity(int index, const MeshInfo& mesh_info) { void Renderable::SetTransform(const Trs& trs) {
if (index < 0 || index >= entities_.size()) { transform_ = trs.ToTransform();
mju_error("Invalid index %d for renderable.", index); filament::TransformManager& tm = GetEngine()->getTransformManager();
for (Part& part : parts_) {
tm.setTransform(tm.getInstance(part.entity), transform_);
} }
utils::Entity entity = entities_[index];
const Mesh* mesh = mesh_info.mesh;
filament::VertexBuffer* vertex_buffer = mesh->GetFilamentVertexBuffer();
if (vertex_buffer == nullptr) {
mju_error("Invalid (null) vertex buffer.");
}
filament::IndexBuffer* index_buffer = mesh->GetFilamentIndexBuffer();
if (index_buffer == nullptr) {
mju_error("Invalid (null) index buffer.");
}
filament::RenderableManager& rm = GetEngine()->getRenderableManager();
rm.setGeometryAt(rm.getInstance(entity), 0, mesh->GetPrimitiveType(),
vertex_buffer, index_buffer, mesh_info.elem_offset,
mesh_info.elem_count);
} }
Renderable::MeshInfo& Renderable::SetMesh(int index, const Mesh* mesh, const mat4f& Renderable::GetTransform() const {
int elem_offset, int elem_count) { return transform_;
if (index == -1) { }
index = meshes_.size();
meshes_.emplace_back(); void Renderable::SetMeshes(std::span<const Mesh*> meshes,
std::span<const mat4f> transforms) {
if (meshes.size() != transforms.size()) {
mju_error("Number of meshes does not match number of transforms.");
} }
if (index < 0 || index >= static_cast<int>(meshes_.size())) { if (!parts_.empty()) {
mju_error("Invalid index %d for renderable.", index); mju_error("Cannot set meshes for renderable with multiple parts.");
} }
MeshInfo* mesh_info = &meshes_[index]; filament::TransformManager& tm = GetEngine()->getTransformManager();
mesh_info->mesh = mesh; for (int i = 0; i < meshes.size(); ++i) {
mesh_info->elem_offset = elem_offset; Part& part = parts_.emplace_back();
mesh_info->elem_count = elem_count; part.mesh = meshes[i];
if (mesh_info->elem_count == 0) { part.elem_offset = 0;
const int total = part.elem_count = part.mesh->GetFilamentIndexBuffer()->getIndexCount();
mesh_info->mesh->GetFilamentIndexBuffer()->getIndexCount(); InitPartEntity(part);
mesh_info->elem_count = total - mesh_info->elem_offset;
tm.setTransform(tm.getInstance(part.entity), transforms[i]);
} }
return *mesh_info;
} }
void Renderable::AddToScene(filament::Scene* scene) { void Renderable::AddToScene(filament::Scene* scene) {
@@ -173,8 +175,8 @@ void Renderable::AddToScene(filament::Scene* scene) {
// Entities are already added to the scene. // Entities are already added to the scene.
return; return;
} }
for (utils::Entity& entity : entities_) { for (Part& part : parts_) {
scene->addEntity(entity); scene->addEntity(part.entity);
} }
assigned_scene_ = scene; assigned_scene_ = scene;
} }
@@ -183,8 +185,8 @@ void Renderable::RemoveFromScene(filament::Scene* scene) {
if (assigned_scene_ != scene) { if (assigned_scene_ != scene) {
mju_error("Attempting to remove renderable from wrong scene."); mju_error("Attempting to remove renderable from wrong scene.");
} }
for (utils::Entity& entity : entities_) { for (Part& part : parts_) {
scene->remove(entity); scene->remove(part.entity);
} }
assigned_scene_ = nullptr; assigned_scene_ = nullptr;
} }
@@ -245,8 +247,8 @@ void Renderable::SetDrawMode(DrawMode mode) {
filament::MaterialInstance* instance = instances_[static_cast<int>(mode)]; filament::MaterialInstance* instance = instances_[static_cast<int>(mode)];
if (instance) { if (instance) {
filament::RenderableManager& rm = GetEngine()->getRenderableManager(); filament::RenderableManager& rm = GetEngine()->getRenderableManager();
for (utils::Entity& entity : entities_) { for (Part& part : parts_) {
filament::RenderableManager::Instance ri = rm.getInstance(entity); filament::RenderableManager::Instance ri = rm.getInstance(part.entity);
rm.setMaterialInstanceAt(ri, 0, instance); rm.setMaterialInstanceAt(ri, 0, instance);
} }
} }
@@ -259,8 +261,8 @@ std::uint8_t Renderable::SetLayerMask(std::uint8_t mask) {
layer_mask_ = mask; layer_mask_ = mask;
filament::RenderableManager& rm = GetEngine()->getRenderableManager(); filament::RenderableManager& rm = GetEngine()->getRenderableManager();
for (utils::Entity& entity : entities_) { for (Part& part : parts_) {
rm.setLayerMask(rm.getInstance(entity), 0xff, layer_mask_); rm.setLayerMask(rm.getInstance(part.entity), 0xff, layer_mask_);
} }
} }
return prev; return prev;
@@ -272,8 +274,8 @@ std::uint8_t Renderable::SetPriority(std::uint8_t priority) {
priority_ = priority; priority_ = priority;
filament::RenderableManager& rm = GetEngine()->getRenderableManager(); filament::RenderableManager& rm = GetEngine()->getRenderableManager();
for (utils::Entity& entity : entities_) { for (Part& part : parts_) {
rm.setPriority(rm.getInstance(entity), priority_); rm.setPriority(rm.getInstance(part.entity), priority_);
} }
} }
return prev; return prev;
@@ -285,8 +287,8 @@ std::uint16_t Renderable::SetBlendOrder(std::uint16_t blend_order) {
blend_order_ = blend_order; blend_order_ = blend_order;
filament::RenderableManager& rm = GetEngine()->getRenderableManager(); filament::RenderableManager& rm = GetEngine()->getRenderableManager();
for (utils::Entity& entity : entities_) { for (Part& part : parts_) {
rm.setBlendOrderAt(rm.getInstance(entity), 0, blend_order_); rm.setBlendOrderAt(rm.getInstance(part.entity), 0, blend_order_);
} }
} }
return prev; return prev;
@@ -297,8 +299,8 @@ void Renderable::SetCastShadows(bool cast_shadows) {
cast_shadows_ = cast_shadows; cast_shadows_ = cast_shadows;
filament::RenderableManager& rm = GetEngine()->getRenderableManager(); filament::RenderableManager& rm = GetEngine()->getRenderableManager();
for (utils::Entity& entity : entities_) { for (Part& part : parts_) {
rm.setCastShadows(rm.getInstance(entity), cast_shadows_); rm.setCastShadows(rm.getInstance(part.entity), cast_shadows_);
} }
} }
} }
@@ -308,8 +310,8 @@ void Renderable::SetReceiveShadows(bool receive_shadows) {
receive_shadows_ = receive_shadows; receive_shadows_ = receive_shadows;
filament::RenderableManager& rm = GetEngine()->getRenderableManager(); filament::RenderableManager& rm = GetEngine()->getRenderableManager();
for (utils::Entity& entity : entities_) { for (Part& part : parts_) {
rm.setReceiveShadows(rm.getInstance(entity), receive_shadows_); rm.setReceiveShadows(rm.getInstance(part.entity), receive_shadows_);
} }
} }
} }
@@ -322,20 +324,17 @@ void Renderable::SetWireframe(bool wireframe) {
wireframe_ = wireframe; wireframe_ = wireframe;
filament::RenderableManager& rm = GetEngine()->getRenderableManager(); filament::RenderableManager& rm = GetEngine()->getRenderableManager();
for (int i = 0; i < entities_.size(); ++i) { for (Part& part : parts_) {
utils::Entity& entity = entities_[i]; filament::VertexBuffer* vertex_buffer = part.mesh->GetFilamentVertexBuffer();
const Mesh* mesh = meshes_[i].mesh; filament::IndexBuffer* index_buffer = part.mesh->GetFilamentIndexBuffer();
filament::VertexBuffer* vertex_buffer = mesh->GetFilamentVertexBuffer(); rm.setGeometryAt(rm.getInstance(part.entity), 0,
filament::IndexBuffer* index_buffer = mesh->GetFilamentIndexBuffer(); wireframe_ ? kWireframeType : part.mesh->GetPrimitiveType(),
rm.setGeometryAt(rm.getInstance(entity), 0, vertex_buffer, index_buffer, part.elem_offset,
wireframe_ ? kWireframeType : mesh->GetPrimitiveType(), part.elem_count);
vertex_buffer, index_buffer, meshes_[i].elem_offset,
meshes_[i].elem_count);
} }
} }
} }
ObjectManager::MaterialType Renderable::GetColorMaterialType() const { ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
if (params_.shading_model == ShadingModel::DecorLines) { if (params_.shading_model == ShadingModel::DecorLines) {
return ObjectManager::kUnlitLine; return ObjectManager::kUnlitLine;
@@ -360,8 +359,8 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
// geometry) and `mesh_texcoordadr` stores the address of the mesh uvs if // geometry) and `mesh_texcoordadr` stores the address of the mesh uvs if
// it has them. // it has them.
bool has_texcoords = false; bool has_texcoords = false;
if (!meshes_.empty()) { if (!parts_.empty()) {
const auto attribs = meshes_[0].mesh->GetVertexAttributes(); const auto attribs = parts_[0].mesh->GetVertexAttributes();
auto it = std::find(attribs.begin(), attribs.end(), auto it = std::find(attribs.begin(), attribs.end(),
filament::VertexAttribute::UV0); filament::VertexAttribute::UV0);
has_texcoords = (it != attribs.end()); has_texcoords = (it != attribs.end());
src/experimental/filament/filament/renderable.h
+36 -38
View File
@@ -16,13 +16,16 @@
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_ #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_
#include <cstdint> #include <cstdint>
#include <span>
#include <vector> #include <vector>
#include <filament/Engine.h> #include <filament/Engine.h>
#include <filament/Scene.h> #include <filament/Scene.h>
#include <math/mat4.h>
#include <utils/Entity.h> #include <utils/Entity.h>
#include "experimental/filament/filament/draw_mode.h" #include "experimental/filament/filament/draw_mode.h"
#include "experimental/filament/filament/material.h" #include "experimental/filament/filament/material.h"
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/filament/mesh.h" #include "experimental/filament/filament/mesh.h"
#include "experimental/filament/filament/object_manager.h" #include "experimental/filament/filament/object_manager.h"
@@ -43,14 +46,20 @@ struct RenderableParams {
void DefaultRenderableParams(RenderableParams* params); void DefaultRenderableParams(RenderableParams* params);
// A collection of meshes and a material that, together, define an object that // A Renderable is effectively two things: a mesh and a material.
// can be rendered in a scene.
// //
// Meshes can be added to the Renderable either by unique_ptr or raw pointer. // The mesh describes the surface geometry of the object and the material
// This determines whether or not the Renderable takes ownership of the mesh. // describes how that surface interacts with light (i.e. the color of each point
// on the surface).
// //
// Internally, the Renderable creates a filament::Entity for each mesh and // Defining the mesh is easy; just call SetMesh.
// assigns the same material instance to all of them. //
// Defining a Material happens in two stages. First, the user specifies the
// ShadingModel to use for Rendering. This describes the overall intent of
// how the Renderable will appear (e.g. lit, unlit, wireframe, etc.). Next,
// the user specifies the MaterialParams and MaterialTextures to use with the
// ShadingModel. Its these properties that ultimately define the actual material
// of the Renderable.
class Renderable { class Renderable {
public: public:
// Default filament values for priority and layer mask. // Default filament values for priority and layer mask.
@@ -63,19 +72,21 @@ class Renderable {
Renderable(const Renderable&) = delete; Renderable(const Renderable&) = delete;
Renderable& operator=(const Renderable&) = delete; Renderable& operator=(const Renderable&) = delete;
// Appends a mesh to the renderable. The elem_offset and elem_count parameters // Sets the mesh of the renderable. The elem_offset and elem_count parameters
// can be used to specify a submesh to append. If elem_count is 0, assumes // can be used to specify a submesh within the mesh. If elem_count is 0,
// the entire mesh should be appended. // assumes the entire mesh should be appended.
void AppendMesh(const Mesh* mesh, int elem_offset = 0, int elem_count = 0); void SetMesh(const Mesh* mesh, int elem_offset = 0, int elem_count = 0);
// Replaces the mesh at the index with a new mesh. The elem_offset and // Sets the transform of the renderable.
// elem_count parameters can be used to specify a submesh to append. If void SetTransform(const Trs& trs);
// elem_count is 0, assumes the entire mesh should be appended.
void UpdateMesh(int index, const Mesh* mesh, int elem_offset = 0,
int elem_count = 0);
// Returns the number of meshes that define the renderable. // Returns the current transform of the renderable.
int GetNumMeshes() const { return meshes_.size(); } const filament::math::mat4f& GetTransform() const;
// Sets multiple meshes for a renderable. Each mesh is assigned a specific
// transform to allow for assembly of compound shapes.
void SetMeshes(std::span<const Mesh*> meshes,
std::span<const filament::math::mat4f> transforms);
// Sets the layer mask for the managed filament Entities. Layer masks can be // Sets the layer mask for the managed filament Entities. Layer masks can be
// used to show/hide the renderable in different views. Returns the previous // used to show/hide the renderable in different views. Returns the previous
@@ -107,7 +118,8 @@ class Renderable {
// Removes the renderable from the given filament Scene. // Removes the renderable from the given filament Scene.
void RemoveFromScene(filament::Scene* scene); void RemoveFromScene(filament::Scene* scene);
// Sets the material instance for all managed entities. // Further defines the material of the renderable. Only applies to renderables
// with a SceneObject shading model.
void SetDrawMode(DrawMode mode); void SetDrawMode(DrawMode mode);
// Updates the parameters for the material. // Updates the parameters for the material.
@@ -123,30 +135,15 @@ class Renderable {
// Returns the filament Engine managing the renderables. // Returns the filament Engine managing the renderables.
filament::Engine* GetEngine(); filament::Engine* GetEngine();
// Returns the underlying filament::entity for the given mesh.
utils::Entity operator[](int index) { return entities_[index]; }
private: private:
struct MeshInfo { struct Part {
utils::Entity entity;
const Mesh* mesh = nullptr; const Mesh* mesh = nullptr;
int elem_offset = 0; int elem_offset = 0;
int elem_count = 0; int elem_count = 0;
}; };
// Sets the mesh information for the mesh at the given index. If index is -1, void InitPartEntity(Part& part);
// a new mesh will be appended to the renderable.
MeshInfo& SetMesh(int index, const Mesh* mesh, int elem_offset,
int elem_count);
// Appends a new filament::Entity to the renderable, configured to use the
// given mesh.
void AppendEntity(const MeshInfo& mesh_info);
// Updates the filament::Entity at the given index to use the given mesh.
void UpdateEntity(int index, const MeshInfo& mesh_info);
// Removes the last filament::Entity from the renderable.
void RemoveLastEntity();
void AssignMaterial(DrawMode mode, ObjectManager::MaterialType material_type); void AssignMaterial(DrawMode mode, ObjectManager::MaterialType material_type);
@@ -159,8 +156,9 @@ class Renderable {
MaterialTextures material_textures_; MaterialTextures material_textures_;
DrawMode draw_mode_ = DrawMode::Color; DrawMode draw_mode_ = DrawMode::Color;
filament::Scene* assigned_scene_ = nullptr; filament::Scene* assigned_scene_ = nullptr;
std::vector<utils::Entity> entities_; std::vector<Part> parts_;
std::vector<MeshInfo> meshes_; filament::math::mat4f transform_;
std::uint8_t priority_ = kDefaultPriority; std::uint8_t priority_ = kDefaultPriority;
std::uint8_t layer_mask_ = kDefaultLayerMask; std::uint8_t layer_mask_ = kDefaultLayerMask;
std::uint16_t blend_order_ = 0; std::uint16_t blend_order_ = 0;
src/experimental/filament/filament/scene_geom_util.cc
+191 -187
View File
@@ -18,6 +18,7 @@
#include <cstdint> #include <cstdint>
#include <memory> #include <memory>
#include <numbers> #include <numbers>
#include <vector>
#include <filament/Material.h> #include <filament/Material.h>
#include <filament/RenderableManager.h> #include <filament/RenderableManager.h>
@@ -44,30 +45,12 @@ namespace mujoco {
using filament::math::float2; using filament::math::float2;
using filament::math::float3; using filament::math::float3;
using filament::math::float4; using filament::math::float4;
using filament::math::mat4; using filament::math::mat4f;
// An arbitrary scale factor for arrows. // An arbitrary scale factor for arrows.
static constexpr float kArrowScale = 1.f / 6.f; static constexpr float kArrowScale = 1.f / 6.f;
static constexpr float kArrowHeadSize = 1.75f; static constexpr float kArrowHeadSize = 1.75f;
// Some built-in geometries are actually composed of multiple simple shapes. A
// capsule, for example, is a open-ended tube with two dome ends. We use these
// constants to help identify which entity (by index) represents which part of
// the overall shape.
static constexpr int kCapsuleTopDome = 1;
static constexpr int kCapsuleBottomDome = 2;
static constexpr int kCylinderTopDisk = 1;
static constexpr int kCylinderBottomDisk = 2;
static constexpr int kArrow0Cone = 1;
static constexpr int kArrow0ConeDisk = 2;
static constexpr int kArrow0BottomDisk = 3;
static constexpr int kArrow1Cone = 1;
static constexpr int kArrow1BottomDisk = 2;
static constexpr int kArrow2TopCone = 1;
static constexpr int kArrow2BottomCone = 2;
static constexpr int kArrow2TopConeDisk = 3;
static constexpr int kArrow2BottomConeDisk = 4;
// Returns the tile size for infinite plane texture alignment. // Returns the tile size for infinite plane texture alignment.
// This is duplicated from engine_vis_visualize.c (re-center infinite plane) // This is duplicated from engine_vis_visualize.c (re-center infinite plane)
// to ensure UV scaling matches the re-centering increments. // to ensure UV scaling matches the re-centering increments.
@@ -87,102 +70,240 @@ static bool IsBehind(const float* headpos, const float* pos, const float* mat) {
0.0f); 0.0f);
} }
static void AddMesh(Renderable& renderable, ModelObjects* model_objs, static const Mesh* GetMesh(ModelObjects* model_objs, int data_id) {
int data_id) {
const Mesh* mesh = model_objs->GetMeshBuffer(data_id); const Mesh* mesh = model_objs->GetMeshBuffer(data_id);
if (mesh == nullptr) { if (mesh == nullptr) {
mju_error("Unknown mesh %d", data_id); mju_error("Unknown mesh %d", data_id);
} }
renderable.AppendMesh(mesh); return mesh;
} }
static void AddSkinFlexMesh(Renderable& renderable, ModelObjects* model_objs, static const Mesh* GetSkinFlexMesh(ModelObjects* model_objs, int objid) {
int objid) { return model_objs->GetFlexSkinGeomMesh(objid);
renderable.AppendMesh(model_objs->GetFlexSkinGeomMesh(objid));
} }
static void AddHeightField(Renderable& renderable, ModelObjects* model_objs, static const Mesh* GetHeightField(ModelObjects* model_objs, int hfield_id) {
int hfield_id) {
const Mesh* mesh = model_objs->GetHeightFieldBuffer(hfield_id); const Mesh* mesh = model_objs->GetHeightFieldBuffer(hfield_id);
if (mesh == nullptr) { if (mesh == nullptr) {
mju_error("Unknown height field %d", hfield_id); mju_error("Unknown height field %d", hfield_id);
} }
renderable.AppendMesh(mesh); return mesh;
} }
static void AddShape(Renderable& renderable, ModelObjects* model_objs, static const Mesh* GetShape(ModelObjects* model_objs,
ModelObjects::ShapeType shape_type) { ModelObjects::ShapeType shape_type) {
const Mesh* mesh = model_objs->GetShapeBuffer(shape_type); const Mesh* mesh = model_objs->GetShapeBuffer(shape_type);
if (mesh == nullptr) { if (mesh == nullptr) {
mju_error("Unknown shape %d", shape_type); mju_error("Unknown shape %d", shape_type);
} }
renderable.AppendMesh(mesh); return mesh;
} }
static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom, static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
const mjvScene* scene, const mjvScene* scene,
ModelObjects* model_objects) { ModelObjects* model_objects) {
std::vector<const Mesh*> meshes;
std::vector<mat4f> transforms;
Trs trs = {
.translation = ReadFloat3(geom.pos),
.rotation = ReadMat3(geom.mat),
.size = ReadFloat3(geom.size),
};
switch ((mjtGeom)geom.type) { switch ((mjtGeom)geom.type) {
case mjGEOM_MESH: case mjGEOM_MESH:
AddMesh(renderable, model_objects, geom.dataid); meshes.push_back(GetMesh(model_objects, geom.dataid));
// Ignore size for meshes.
transforms.push_back(mat4f(trs.rotation, trs.translation));
break; break;
case mjGEOM_HFIELD: case mjGEOM_HFIELD:
AddHeightField(renderable, model_objects, geom.dataid); meshes.push_back(GetHeightField(model_objects, geom.dataid));
// Ignore size for height fields.
transforms.push_back(mat4f(trs.rotation, trs.translation));
break; break;
case mjGEOM_PLANE: case mjGEOM_PLANE: {
AddShape(renderable, model_objects, ModelObjects::kPlane); meshes.push_back(GetShape(model_objects, ModelObjects::kPlane));
const bool is_infinite = !(trs.size.x > 0 && trs.size.y > 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;
trs.size.x = plane_scale;
trs.size.y = plane_scale;
}
// Planes only define an xy size, so set the z-dimension to 1.0f.
trs.size.z = 1.0f;
transforms.push_back(trs.ToTransform());
break; break;
}
case mjGEOM_SPHERE: case mjGEOM_SPHERE:
AddShape(renderable, model_objects, ModelObjects::kSphere); meshes.push_back(GetShape(model_objects, ModelObjects::kSphere));
transforms.push_back(trs.ToTransform());
break; break;
case mjGEOM_ELLIPSOID: case mjGEOM_ELLIPSOID:
AddShape(renderable, model_objects, ModelObjects::kSphere); meshes.push_back(GetShape(model_objects, ModelObjects::kSphere));
transforms.push_back(trs.ToTransform());
break; break;
case mjGEOM_BOX: case mjGEOM_BOX:
AddShape(renderable, model_objects, ModelObjects::kBox); meshes.push_back(GetShape(model_objects, ModelObjects::kBox));
transforms.push_back(trs.ToTransform());
break; break;
case mjGEOM_CAPSULE: case mjGEOM_CAPSULE: {
AddShape(renderable, model_objects, ModelObjects::kTube); // Capsules are a tube with two domes at the ends.
AddShape(renderable, model_objects, ModelObjects::kDome); meshes.push_back(GetShape(model_objects, ModelObjects::kTube));
AddShape(renderable, model_objects, ModelObjects::kDome); meshes.push_back(GetShape(model_objects, ModelObjects::kDome));
meshes.push_back(GetShape(model_objects, ModelObjects::kDome));
transforms.push_back(trs.ToTransform());
// We apply an inverse scale to the domes to counteract the capsule's
// overall scale so that the domes remain spherical in shape.
const float xz_size = 0.5f * (trs.size.x + trs.size.y);
// Move the first dome to the top of the capsule.
mat4f top = mat4f(trs.rotation, trs.translation);
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{trs.size.x, trs.size.y, xz_size});
transforms.push_back(top);
// Move the second dome to the bottom of the capsule and rotate it 180
// degrees so that it's facing the right way.
mat4f bottom = mat4f(trs.rotation, trs.translation);
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(float3{trs.size.x, trs.size.y, xz_size});
transforms.push_back(bottom);
break; break;
case mjGEOM_CYLINDER: }
AddShape(renderable, model_objects, ModelObjects::kTube); case mjGEOM_CYLINDER: {
AddShape(renderable, model_objects, ModelObjects::kDisk); // Cylinders are a tube with two disks at the ends.
AddShape(renderable, model_objects, ModelObjects::kDisk); meshes.push_back(GetShape(model_objects, ModelObjects::kTube));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
transforms.push_back(trs.ToTransform());
// Move the first disk to the top of the cylinder.
mat4f top = mat4f(trs.rotation, trs.translation);
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(trs.size);
transforms.push_back(top);
// Move the second disk to the bottom of the cylinder. Rotate the disk
// 180 degrees so that the normals point outwards.
mat4f bottom = mat4f(trs.rotation, trs.translation);
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(trs.size);
transforms.push_back(bottom);
break; break;
case mjGEOM_ARROW: }
AddShape(renderable, model_objects, ModelObjects::kTube); case mjGEOM_ARROW: {
AddShape(renderable, model_objects, ModelObjects::kCone); meshes.push_back(GetShape(model_objects, ModelObjects::kTube));
AddShape(renderable, model_objects, ModelObjects::kDisk); meshes.push_back(GetShape(model_objects, ModelObjects::kCone));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
mat4f base = mat4f(trs.rotation, trs.translation);
base *= mat4f::scaling(float3{1, 1, kArrowScale});
base *= mat4f::translation(float3{0, 0, trs.size.z});
transforms.push_back(base * mat4f::scaling(trs.size));
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(top * mat4f::scaling(trs.size));
mat4f top_disk = base;
top_disk *= mat4f::translation(float3{0, 0, trs.size.z});
top_disk *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
top_disk *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(top_disk * mat4f::scaling(trs.size));
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
transforms.push_back(bottom * mat4f::scaling(trs.size));
break; break;
case mjGEOM_ARROW1: }
AddShape(renderable, model_objects, ModelObjects::kTube); case mjGEOM_ARROW1: {
AddShape(renderable, model_objects, ModelObjects::kCone); meshes.push_back(GetShape(model_objects, ModelObjects::kTube));
AddShape(renderable, model_objects, ModelObjects::kDisk); meshes.push_back(GetShape(model_objects, ModelObjects::kCone));
AddShape(renderable, model_objects, ModelObjects::kDisk); meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
mat4f base = mat4f(trs.rotation, trs.translation);
base *= mat4f::scaling(float3{1, 1, kArrowScale});
base *= mat4f::translation(float3{0, 0, trs.size.z});
transforms.push_back(base * mat4f::scaling(trs.size));
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
transforms.push_back(top * mat4f::scaling(trs.size));
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
transforms.push_back(bottom * mat4f::scaling(trs.size));
break; break;
case mjGEOM_ARROW2: }
AddShape(renderable, model_objects, ModelObjects::kTube); case mjGEOM_ARROW2: {
AddShape(renderable, model_objects, ModelObjects::kCone); meshes.push_back(GetShape(model_objects, ModelObjects::kTube));
AddShape(renderable, model_objects, ModelObjects::kCone); meshes.push_back(GetShape(model_objects, ModelObjects::kCone));
AddShape(renderable, model_objects, ModelObjects::kDisk); meshes.push_back(GetShape(model_objects, ModelObjects::kCone));
AddShape(renderable, model_objects, ModelObjects::kDisk); meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
mat4f base = mat4f(trs.rotation, trs.translation);
base *= mat4f::scaling(float3{1, 1, kArrowScale});
base *= mat4f::translation(float3{0, 0, trs.size.z});
transforms.push_back(base * mat4f::scaling(trs.size));
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(top * mat4f::scaling(trs.size));
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(bottom * mat4f::scaling(trs.size));
mat4f top_disk = base;
top_disk *= mat4f::translation(float3{0, 0, trs.size.z});
top_disk *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
top_disk *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(top_disk * mat4f::scaling(trs.size));
mat4f bottom_disk = base;
bottom_disk *= mat4f::translation(float3{0, 0, -trs.size.z});
transforms.push_back(bottom_disk * mat4f::scaling(trs.size));
break; break;
}
case mjGEOM_LINE: case mjGEOM_LINE:
AddShape(renderable, model_objects, ModelObjects::kLine); meshes.push_back(GetShape(model_objects, ModelObjects::kLine));
transforms.push_back(trs.ToTransform());
break; break;
case mjGEOM_LINEBOX: case mjGEOM_LINEBOX:
AddShape(renderable, model_objects, ModelObjects::kLineBox); meshes.push_back(GetShape(model_objects, ModelObjects::kLineBox));
transforms.push_back(trs.ToTransform());
break; break;
case mjGEOM_TRIANGLE: case mjGEOM_TRIANGLE:
AddShape(renderable, model_objects, ModelObjects::kTriangle); meshes.push_back(GetShape(model_objects, ModelObjects::kTriangle));
transforms.push_back(trs.ToTransform());
break; break;
case mjGEOM_FLEX: case mjGEOM_FLEX:
AddSkinFlexMesh(renderable, model_objects, geom.objid); meshes.push_back(GetSkinFlexMesh(model_objects, geom.objid));
// Flexes are defined in global space.
transforms.push_back(mat4f());
break; break;
case mjGEOM_SKIN: case mjGEOM_SKIN:
AddSkinFlexMesh(renderable, model_objects, geom.objid); meshes.push_back(GetSkinFlexMesh(model_objects, geom.objid));
// Skins are defined in global space.
transforms.push_back(mat4f());
break; break;
case mjGEOM_NONE: case mjGEOM_NONE:
case mjGEOM_LABEL: case mjGEOM_LABEL:
@@ -193,124 +314,8 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
mju_warning("Unsupported geom type: %d", geom.type); mju_warning("Unsupported geom type: %d", geom.type);
break; break;
} }
}
static void SetGeomTransform(Renderable& renderable, const mjvGeom& geom) { renderable.SetMeshes(meshes, transforms);
// Flex and skin geometries are in global space.
if (geom.type == mjGEOM_FLEX || geom.type == mjGEOM_SKIN) {
return;
}
mat4 transform = mat4(ReadMat3(geom.mat), ReadFloat3(geom.pos));
renderable.SetLayerMask(geom.category);
float3 size = ReadFloat3(geom.size);
filament::TransformManager& tm =
renderable.GetEngine()->getTransformManager();
for (int j = 0; j < renderable.GetNumMeshes(); ++j) {
const utils::Entity& entity = renderable[j];
// Update object transform.
mat4 entity_transform = transform;
// Some built-in drawables are composed of multiple entities. For example,
// capsules are a combination of a open tube and two dome end caps.
if (geom.type == mjGEOM_CYLINDER) {
// Cylinders are a tube with two disks at the ends. The "bottom" disk is
// rotated so that the normals point outwards.
if (j == kCylinderTopDisk) {
entity_transform *= mat4::translation(float3{0, 0, size.z});
} else if (j == kCylinderBottomDisk) {
entity_transform *= mat4::translation(float3{0, 0, -size.z});
entity_transform *= mat4::rotation(std::numbers::pi, float3{1, 0, 0});
}
} else if (geom.type == mjGEOM_CAPSULE) {
// Capsules are a tube with two domes at the ends. We apply an inverse
// scale to the domes to "counteract" the capsule's overall scale so that
// the domes remain spherical in shape.
const float xz_size = 0.5f * (size.x + size.y);
if (j == kCapsuleTopDome) {
entity_transform *= mat4::translation(float3{0, 0, size.z});
entity_transform *= mat4::scaling(float3{1, 1, xz_size / size.z});
} else if (j == kCapsuleBottomDome) {
entity_transform *= mat4::translation(float3{0, 0, -size.z});
entity_transform *= mat4::rotation(std::numbers::pi, float3{1, 0, 0});
entity_transform *= mat4::scaling(float3{1, 1, xz_size / size.z});
}
} else if (geom.type == mjGEOM_ARROW) {
// An arrow is a tube with a cone at the end and a disk cap at the other
// end. Because the cone head's base is larger than the tube, an extra
// disk is added to the base of the cone. This disk is rotated such that
// its normal points outwards.
entity_transform *= mat4::scaling(float3{1, 1, kArrowScale});
entity_transform *= mat4::translation(float3{0, 0, size.z});
if (j == kArrow0Cone) {
entity_transform *= mat4::translation(float3{0, 0, size.z});
entity_transform *=
mat4::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
} else if (j == kArrow0ConeDisk) {
entity_transform *= mat4::translation(float3{0, 0, size.z});
entity_transform *= mat4::rotation(std::numbers::pi, float3{1, 0, 0});
entity_transform *=
mat4::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
} else if (j == kArrow0BottomDisk) {
entity_transform *= mat4::translation(float3{0, 0, -size.z});
entity_transform *= mat4::rotation(std::numbers::pi, float3{1, 0, 0});
}
} else if (geom.type == mjGEOM_ARROW1) {
// An arrow1 is a tube with a cone at the end and a disk cap at the other
// end.
entity_transform *= mat4::scaling(float3{1, 1, kArrowScale});
entity_transform *= mat4::translation(float3{0, 0, size.z});
if (j == kArrow1Cone) {
entity_transform *= mat4::translation(float3{0, 0, size.z});
} else if (j == kArrow1BottomDisk) {
entity_transform *= mat4::translation(float3{0, 0, -size.z});
entity_transform *= mat4::rotation(std::numbers::pi, float3{1, 0, 0});
}
} else if (geom.type == mjGEOM_ARROW2) {
// An arrow2 is a tube with a cone at both ends. Like the standard arrow,
// an extra disk is added to the base of each cone.
entity_transform *= mat4::scaling(float3{1, 1, kArrowScale});
entity_transform *= mat4::translation(float3{0, 0, size.z});
if (j == kArrow2TopCone) {
entity_transform *= mat4::translation(float3{0, 0, size.z});
entity_transform *=
mat4::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
} else if (j == kArrow2BottomCone) {
entity_transform *= mat4::translation(float3{0, 0, -size.z});
entity_transform *= mat4::rotation(std::numbers::pi, float3{1, 0, 0});
entity_transform *=
mat4::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
} else if (j == kArrow2TopConeDisk) {
entity_transform *= mat4::translation(float3{0, 0, size.z});
entity_transform *= mat4::rotation(std::numbers::pi, float3{1, 0, 0});
entity_transform *=
mat4::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
} else if (j == kArrow2BottomConeDisk) {
entity_transform *= mat4::translation(float3{0, 0, -size.z});
entity_transform *=
mat4::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
}
}
if (geom.type == mjGEOM_PLANE) {
const bool is_infinite = !(size.x > 0 && size.y > 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;
entity_transform *=
mat4::scaling(float3{plane_scale, plane_scale, 1.0f});
} else {
// Regular planes are scaled by geom.size.
entity_transform *= mat4::scaling(float3{size.x, size.y, 1.0f});
}
} else if (geom.type != mjGEOM_MESH && geom.type != mjGEOM_HFIELD) {
entity_transform *= mat4::scaling(size);
}
tm.setTransform(tm.getInstance(entity), entity_transform);
}
} }
static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom, static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
@@ -334,10 +339,12 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
enable_reflection && geom.reflectance > 0 && params.color.a == 1.0f; enable_reflection && geom.reflectance > 0 && params.color.a == 1.0f;
} }
} }
renderable.SetWireframe(scene->flags[mjRND_WIREFRAME]); renderable.SetLayerMask(geom.category);
if (geom.category == mjCAT_DECOR) { if (geom.category == mjCAT_DECOR) {
renderable.SetCastShadows(false); renderable.SetCastShadows(false);
renderable.SetReceiveShadows(false); renderable.SetReceiveShadows(false);
} else {
renderable.SetWireframe(scene->flags[mjRND_WIREFRAME]);
} }
MaterialTextures textures; MaterialTextures textures;
@@ -471,10 +478,7 @@ std::unique_ptr<Renderable> CreateGeomRenderable(
config.shading_model = shading_model; config.shading_model = shading_model;
auto renderable = std::make_unique<Renderable>(object_mgr, config); auto renderable = std::make_unique<Renderable>(object_mgr, config);
// The order of these calls is important. e.g. We need to create the filament
// renderable entities before we can set their transform.
PrepareGeomMeshes(*renderable, geom, scene, model_objs); PrepareGeomMeshes(*renderable, geom, scene, model_objs);
SetGeomTransform(*renderable, geom);
UpdateGeomMaterial(*renderable, geom, scene, model_objs, object_mgr, headpos); UpdateGeomMaterial(*renderable, geom, scene, model_objs, object_mgr, headpos);
return renderable; return renderable;
src/experimental/filament/filament/scene_view.cc
+2 -5
View File
@@ -277,13 +277,11 @@ void SceneView::Render(filament::Renderer* renderer,
// Render reflection passes. // Render reflection passes.
if (request.draw_mode == DrawMode::Color) { if (request.draw_mode == DrawMode::Color) {
filament::TransformManager& tm = engine_->getTransformManager();
for (size_t i = 0; i < reflectives_.size(); ++i) { for (size_t i = 0; i < reflectives_.size(); ++i) {
Renderable* renderable = reflectives_[i]; Renderable* renderable = reflectives_[i];
// We assume the 0th entity is the reflective entity. // We assume the 0th entity is the reflective entity.
const utils::Entity entity = (*renderable)[0]; mat4 transform(renderable->GetTransform());
const mat4 transform(tm.getTransform(tm.getInstance(entity)));
SetupReflectionCamera(transform, camera_, reflect_camera_); SetupReflectionCamera(transform, camera_, reflect_camera_);
// Hide reflective surface from its own reflection pass. // Hide reflective surface from its own reflection pass.
@@ -305,8 +303,7 @@ void SceneView::Render(filament::Renderer* renderer,
if (request.enable_ux) { if (request.enable_ux) {
ux_camera_->setProjection(filament::Camera::Projection::ORTHO, 0.0f, ux_camera_->setProjection(filament::Camera::Projection::ORTHO, 0.0f,
viewport.width / request.gui_scale, viewport.width, viewport.height, 0.0f, 0.0f,
viewport.height / request.gui_scale, 0.0f, 0.0f,
1.0f); 1.0f);
ux_view_->setRenderTarget(render_target); ux_view_->setRenderTarget(render_target);
renderer->render(ux_view_); renderer->render(ux_view_);
src/experimental/filament/filament/scene_view.h
-2
View File
@@ -69,8 +69,6 @@ class SceneView {
RenderTarget* target = nullptr; RenderTarget* target = nullptr;
// Whether or not to render the UX as a separate pass. // Whether or not to render the UX as a separate pass.
bool enable_ux = false; bool enable_ux = false;
// The scale factor to use for UX rendering.
float gui_scale = 1.0f;
}; };
// Renders the scene. // Renders the scene.