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Merge vertex_util into math_util.

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PiperOrigin-RevId: 896071837
Change-Id: Ieec0e4b4b11988805219739a84f413871ae34f1b
This commit is contained in:
Haroon Qureshi
2026-04-07 13:52:39 -07:00
committed by Copybara-Service
parent f7fd5fc58b
commit 49b45bd993
8 changed files with 56 additions and 111 deletions
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src/experimental/filament/CMakeLists.txt
-2
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@@ -61,8 +61,6 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
filament/scene_view.h
filament/texture.cc
filament/texture.h
filament/vertex_util.cc
filament/vertex_util.h
)
if(MUJOCO_USE_FILAMENT_MJR_COMPAT)
target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
src/experimental/filament/filament/builtins.cc
+1 -1
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@@ -27,8 +27,8 @@
#include <math/vec2.h>
#include <math/vec3.h>
#include <math/vec4.h>
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/filament/mesh.h"
#include "experimental/filament/filament/vertex_util.h"
namespace mujoco {
src/experimental/filament/filament/math_util.cc
+39
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@@ -13,8 +13,11 @@
// limitations under the License.
#include "experimental/filament/filament/math_util.h"
#include <limits>
#include <math/mat3.h>
#include <math/mat4.h>
#include <math/quat.h>
#include <math/vec3.h>
#include <math/vec4.h>
#include <math/TVecHelpers.h>
@@ -23,7 +26,9 @@ namespace mujoco {
using filament::math::float3;
using filament::math::float4;
using filament::math::mat3f;
using filament::math::mat4;
using filament::math::quatf;
mat4 ToReflectionMatrix(const mat4& xform) {
const float3 normal = xform[2].xyz;
@@ -81,4 +86,38 @@ mat4 CalculateObliqueProjection(const mat4& projection, const float4& plane) {
return res;
}
float4 CalculateOrientation(const float3& normal) {
float3 tangent;
float3 bitangent;
if (normal.y < -1.0f + std::numeric_limits<float>::epsilon()) {
// Handle the singularity.
tangent = float3{-1.0f, 0.0f, 0.0f};
bitangent = float3{0.0f, 0.0f, -1.0f};
} else {
const float a = 1.0f / (1.0f + normal.y);
const float b = -normal.z * normal.x * a;
tangent = float3(b, -normal.z, 1.0f - normal.z * normal.z * a);
bitangent = float3(1.0f - normal.x * normal.x * a, -normal.x, b);
}
quatf orientation = mat3f::packTangentFrame({tangent, bitangent, normal});
return float4(orientation.xyz, orientation.w);
}
float3 CalculateNormal(
const filament::math::float3& p1,
const filament::math::float3& p2,
const filament::math::float3& p3) {
const float3 v12 = p2 - p1;
const float3 v13 = p3 - p1;
return normalize(cross(v12, v13));
}
float4 CalculateOrientation(
const filament::math::float3& p1,
const filament::math::float3& p2,
const filament::math::float3& p3) {
return CalculateOrientation(CalculateNormal(p1, p2, p3));
}
} // namespace mujoco
src/experimental/filament/filament/math_util.h
+16
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@@ -64,6 +64,22 @@ filament::math::mat4 CalculateObliqueProjection(
const filament::math::mat4& projection,
const filament::math::float4& plane);
// Calculates the normal of a triangle given its three vertices.
filament::math::float3 CalculateNormal(
const filament::math::float3& p1,
const filament::math::float3& p2,
const filament::math::float3& p3);
// Calculates the orientation of a vertex given just its normal.
filament::math::float4 CalculateOrientation(
const filament::math::float3& normal);
// Calculates the orientation of a triangle given its three vertices.
filament::math::float4 CalculateOrientation(
const filament::math::float3& p1,
const filament::math::float3& p2,
const filament::math::float3& p3);
} // namespace mujoco
#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MATH_UTIL_H_
src/experimental/filament/filament/mesh.cc
-1
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@@ -30,7 +30,6 @@
#include <math/vec4.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/filament/vertex_util.h"
namespace mujoco {
src/experimental/filament/filament/model_util.cc
-1
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@@ -28,7 +28,6 @@
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/filament/mesh.h"
#include "experimental/filament/filament/vertex_util.h"
namespace mujoco {
src/experimental/filament/filament/vertex_util.cc
-65
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@@ -1,65 +0,0 @@
// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "experimental/filament/filament/vertex_util.h"
#include <limits>
#include <math/TVecHelpers.h>
#include <math/mat3.h>
#include <math/quat.h>
#include <math/vec3.h>
#include <math/vec4.h>
namespace mujoco {
using filament::math::float3;
using filament::math::float4;
using filament::math::mat3f;
using filament::math::quatf;
float4 CalculateOrientation(const float3& normal) {
float3 tangent;
float3 bitangent;
if (normal.y < -1.0f + std::numeric_limits<float>::epsilon()) {
// Handle the singularity.
tangent = float3{-1.0f, 0.0f, 0.0f};
bitangent = float3{0.0f, 0.0f, -1.0f};
} else {
const float a = 1.0f / (1.0f + normal.y);
const float b = -normal.z * normal.x * a;
tangent = float3(b, -normal.z, 1.0f - normal.z * normal.z * a);
bitangent = float3(1.0f - normal.x * normal.x * a, -normal.x, b);
}
quatf orientation = mat3f::packTangentFrame({tangent, bitangent, normal});
return float4(orientation.xyz, orientation.w);
}
float3 CalculateNormal(
const filament::math::float3& p1,
const filament::math::float3& p2,
const filament::math::float3& p3) {
const float3 v12 = p2 - p1;
const float3 v13 = p3 - p1;
return normalize(cross(v12, v13));
}
float4 CalculateOrientation(
const filament::math::float3& p1,
const filament::math::float3& p2,
const filament::math::float3& p3) {
return CalculateOrientation(CalculateNormal(p1, p2, p3));
}
} // namespace mujoco
src/experimental/filament/filament/vertex_util.h
-41
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@@ -1,41 +0,0 @@
// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_VERTEX_UTIL_H_
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_VERTEX_UTIL_H_
#include <math/vec3.h>
#include <math/vec4.h>
namespace mujoco {
// Calculates the normal of a triangle given its three vertices.
filament::math::float3 CalculateNormal(
const filament::math::float3& p1,
const filament::math::float3& p2,
const filament::math::float3& p3);
// Calculates the orientation of a vertex given just its normal.
filament::math::float4 CalculateOrientation(
const filament::math::float3& normal);
// Calculates the orientation of a triangle given its three vertices.
filament::math::float4 CalculateOrientation(
const filament::math::float3& p1,
const filament::math::float3& p2,
const filament::math::float3& p3);
} // namespace mujoco
#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_VERTEX_UTIL_H_