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Get mjrfContext from the ModelObjects.

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PiperOrigin-RevId: 943888955
Change-Id: Icfe6230e531a100ad5a09efe582977fd3de8f076
This commit is contained in:
Haroon Qureshi
2026-07-07 07:44:11 -07:00
committed by Copybara-Service
parent 6608f1affa
commit 4ab8617429
6 changed files with 35 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/filament/compat/scene_bridge.cc
+1 -2
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@@ -51,8 +51,7 @@ SceneBridge::SceneBridge(mjrfContext* ctx, mjrfScene* scene, const mjModel* mode
filament::math::float4(0, 0, 0, 1));
mjrf_setClearColor(ctx_, &clear_color[0]);
light_manager_ =
std::make_unique<LightManager>(ctx_, scene_, model_objects_.get());
light_manager_ = std::make_unique<LightManager>(scene_, model_objects_.get());
}
SceneBridge::~SceneBridge() {
src/render/filament/support/light_manager.cc
+9 -9
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@@ -72,9 +72,8 @@ static UniquePtr<mjrfTexture> CreateFallbackIndirectLightTexture(
return texture;
}
LightManager::LightManager(mjrfContext* ctx, mjrfScene* scene,
ModelObjects* model_objects)
: ctx_(ctx), scene_(scene), model_objects_(model_objects) {
LightManager::LightManager(mjrfScene* scene, ModelObjects* model_objects)
: scene_(scene), model_objects_(model_objects) {
const mjModel* model = model_objects->GetModel();
default_shadow_map_size_ = ReadElement(
model, "filament.shadows.map_size", default_shadow_map_size_);
@@ -102,6 +101,7 @@ LightManager::~LightManager() {
}
void LightManager::Prepare() {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
bool has_image_based_light = false;
@@ -115,7 +115,7 @@ void LightManager::Prepare() {
params.type = mjLIGHT_IMAGE;
params.texture = model_objects_->GetTexture(model->light_texid[i]);
params.intensity = model->light_intensity[i];
auto light_obj = CreateLight(ctx_, params);
auto light_obj = CreateLight(ctx, params);
mjrf_addLightToScene(scene_, light_obj.get());
lights_.emplace_back(std::move(light_obj));
has_image_based_light = true;
@@ -138,7 +138,7 @@ void LightManager::Prepare() {
params.spot_cone_angle = model->light_cutoff[i];
}
auto light_obj = CreateLight(ctx_, params);
auto light_obj = CreateLight(ctx, params);
mjrf_addLightToScene(scene_, light_obj.get());
lights_.emplace_back(std::move(light_obj));
}
@@ -158,7 +158,7 @@ void LightManager::Prepare() {
params.cast_shadows = 0;
params.intensity = 0.0f;
params.spot_cone_angle = 90.0f;
auto light_obj = CreateLight(ctx_, params);
auto light_obj = CreateLight(ctx, params);
mjrf_addLightToScene(scene_, light_obj.get());
lights_.emplace_back(std::move(light_obj));
}
@@ -170,7 +170,7 @@ void LightManager::Prepare() {
mjrf_defaultLightParams(&params);
params.type = mjLIGHT_IMAGE;
params.intensity = 10.0f;
fallback_ibl_ = CreateLight(ctx_, params);
fallback_ibl_ = CreateLight(ctx, params);
mjrf_addLightToScene(scene_, fallback_ibl_.get());
}
@@ -179,14 +179,14 @@ void LightManager::Prepare() {
// default environment light and set the light intensity ourselves.
if (total_light_intensity == 0.0f) {
// Create a fallback environment light.
fallback_ibl_texture_ = CreateFallbackIndirectLightTexture(ctx_);
fallback_ibl_texture_ = CreateFallbackIndirectLightTexture(ctx);
mjrfLightParams params;
mjrf_defaultLightParams(&params);
params.type = mjLIGHT_IMAGE;
params.texture = fallback_ibl_texture_.get();
params.intensity = fallback_environment_light_intensity_;
fallback_ibl_ = CreateLight(ctx_, params);
fallback_ibl_ = CreateLight(ctx, params);
mjrf_addLightToScene(scene_, fallback_ibl_.get());
// Distribute the fallback scene light intensity among the lights.
src/render/filament/support/light_manager.h
+1 -2
View File
@@ -27,7 +27,7 @@ namespace mujoco {
// Manages Light entities for an mjrfScene.
class LightManager {
public:
LightManager(mjrfContext* ctx, mjrfScene* scene, ModelObjects* model_objects);
LightManager(mjrfScene* scene, ModelObjects* model_objects);
~LightManager();
// Updates the state of the lights in the scene.
@@ -43,7 +43,6 @@ class LightManager {
private:
void Prepare();
mjrfContext* ctx_ = nullptr;
mjrfScene* scene_ = nullptr;
ModelObjects* model_objects_ = nullptr;
src/render/filament/support/model_objects.h
+3
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@@ -55,6 +55,9 @@ class ModelObjects {
// Returns the skybox texture in the mjModel.
const mjrfTexture* GetSkyboxTexture() const;
// Returns the mjrfContext used by the ModelObjects.
mjrfContext* GetContext() const { return ctx_; }
// Returns the mjModel from which the Model Objects are created.
const mjModel* GetModel() const { return model_; }
src/render/filament/support/renderable_manager.cc
+20 -12
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@@ -175,9 +175,9 @@ static void SetGeomMesh(mjrfRenderable* renderable, ModelObjects* model_objs,
}
}
RenderableManager::RenderableManager(mjrfContext* ctx, mjrfScene* scene,
RenderableManager::RenderableManager(mjrfScene* scene,
ModelObjects* model_objects)
: ctx_(ctx), scene_(scene), model_objects_(model_objects) {
: scene_(scene), model_objects_(model_objects) {
mjv_defaultOption(&vopts_);
AddGeomGeoms();
@@ -217,6 +217,7 @@ RenderableManager::~RenderableManager() {
}
void RenderableManager::Update(const mjData* data) {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
for (int i = 0; i < model->ngeom; ++i) {
@@ -231,20 +232,19 @@ void RenderableManager::Update(const mjData* data) {
mjrf_setRenderableTransform(sites_[i].get(), pos.v, mat.asArray());
}
for (int i = 0; i < model->nflex; ++i) {
const int flex_layer = vopts_.flex_layer;
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,
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);
}
for (int i = 0; i < model->nskin; ++i) {
auto mesh = CreateSkinMesh(ctx_, model, data, i);
auto mesh = CreateSkinMesh(ctx, model, data, i);
mjrf_setRenderableMesh(skins_[i].get(), mesh.get(), 0, 0);
skin_meshes_[i] = std::move(mesh);
}
@@ -377,6 +377,7 @@ mjrfRenderable* RenderableManager::GetRenderable(mjtObj obj_type,
}
void RenderableManager::AddGeomGeoms() {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
geoms_.reserve(model->ngeom);
@@ -385,7 +386,7 @@ void RenderableManager::AddGeomGeoms() {
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx_, params);
auto renderable = CreateRenderable(ctx, params);
SetGeomMesh(renderable.get(), model_objects_, type, i);
@@ -405,6 +406,7 @@ void RenderableManager::AddGeomGeoms() {
}
void RenderableManager::AddSiteGeoms() {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
sites_.reserve(model->nsite);
@@ -413,7 +415,7 @@ void RenderableManager::AddSiteGeoms() {
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx_, params);
auto renderable = CreateRenderable(ctx, params);
SetGeomMesh(renderable.get(), model_objects_, type);
@@ -433,6 +435,7 @@ void RenderableManager::AddSiteGeoms() {
}
void RenderableManager::AddFlexGeoms() {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
flexes_.reserve(model->nflex);
@@ -440,7 +443,7 @@ void RenderableManager::AddFlexGeoms() {
for (int i = 0; i < model->nflex; ++i) {
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx_, params);
auto renderable = CreateRenderable(ctx, params);
mjrfMaterial material = GetDefaultMaterial(mjOBJ_FLEX, i);
mjrf_setRenderableMaterial(renderable.get(), &material);
@@ -454,6 +457,7 @@ void RenderableManager::AddFlexGeoms() {
}
void RenderableManager::AddSkinGeoms() {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
skins_.reserve(model->nskin);
@@ -461,7 +465,7 @@ void RenderableManager::AddSkinGeoms() {
for (int i = 0; i < model->nskin; i++) {
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx_, params);
auto renderable = CreateRenderable(ctx, params);
mjrfMaterial material = GetDefaultMaterial(mjOBJ_SKIN, i);
mjrf_setRenderableMaterial(renderable.get(), &material);
@@ -475,6 +479,7 @@ void RenderableManager::AddSkinGeoms() {
}
void RenderableManager::AddSliderCrankGeoms() {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
const int nstack = model->vis.quality.numstacks;
const int nslice = model->vis.quality.numslices;
@@ -491,13 +496,13 @@ void RenderableManager::AddSliderCrankGeoms() {
}
// Create two renderables, one for the slider and the other for the crank.
auto slider = CreateRenderable(ctx_, params);
auto slider = CreateRenderable(ctx, params);
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);
auto crank = CreateRenderable(ctx, params);
mjrf_setRenderableGeomMesh(crank.get(), mjGEOM_CAPSULE, nstack, nslice,
nquad);
mjrf_addRenderableToScene(scene_, crank.get());
@@ -551,13 +556,16 @@ void RenderableManager::UpdateSliderCranks(const mjData* data, int actuator_id,
}
void RenderableManager::AppendSegmentToTendon(int tendon_id) {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
const int nstack = model->vis.quality.numstacks;
const int nslice = model->vis.quality.numslices;
const int nquad = model->vis.quality.numquads;
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx_, params);
auto renderable = CreateRenderable(ctx, params);
mjrf_setRenderableGeomMesh(renderable.get(), mjGEOM_CAPSULE, nstack, nslice,
nquad);
if (vopts_.tendongroup[model->tendon_group[tendon_id]]) {
src/render/filament/support/renderable_manager.h
+1 -3
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@@ -31,8 +31,7 @@ namespace mujoco {
class RenderableManager {
public:
// Populates the mjrScene with the renderables from the model.
RenderableManager(mjrfContext* ctx, mjrfScene* scene,
ModelObjects* model_objects);
RenderableManager(mjrfScene* scene, ModelObjects* model_objects);
~RenderableManager();
// Updates the state of the renderables in the scene.
@@ -75,7 +74,6 @@ class RenderableManager {
int GetSegmentationId(mjtObj obj_type, int obj_index);
mjrfContext* ctx_;
mjrfScene* scene_;
ModelObjects* model_objects_;