Use separate SceneView for main scene and UX.

Refactor FilamentContext to allow multiple render requests to
be submitted onto a single RenderTarget. The main scene and the
ux scene are then submitted as two separate requests that share
the same target, resulting in a single, composited render.

PiperOrigin-RevId: 904324801
Change-Id: I7c47ec4f8d159320612fa33384c01e8db3414daa

src/experimental/filament/filament/filament_context.cc

@@ -36,6 +36,7 @@
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/filament_platform_factory.h"
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/filament/render_target.h"
 #include "experimental/filament/filament/scene_view.h"
 #include "experimental/filament/render_context_filament.h"
 
@@ -81,77 +82,91 @@ FilamentContext::~FilamentContext() {
 FilamentContext::FrameHandle FilamentContext::Render(
     std::span<const RenderRequest> requests,
     std::span<const ReadPixelsRequest> read_requests) {
-  if (requests.size() != 1) {
-    mju_error("Only one render request is supported for now.");
-  }
   if (read_requests.size() > 1) {
     mju_error("Only one read request is supported for now.");
   }
 
-  const RenderRequest& request = requests[0];
+  bool render_began = false;
-
+  RenderTarget* current_target = nullptr;
-  if (request.target == nullptr) {
+  for (const RenderRequest& request : requests) {
-    if (!read_requests.empty()) {
+    if (request.target != current_target && render_began) {
-      mju_error("Cannot read pixels from the window.");
-    }
-
-    if constexpr (UTILS_HAS_THREADING) {
-      // Wait until previous frame is completed before requesting a new frame.
-      engine_->flushAndWait();
-    }
-
-    // If the window size has changed, we need to reacquire the swap chain.
-    if (request.width != window_width_ || request.height != window_height_) {
-      if (window_width_ != 0 && window_height_ != 0) {
-        engine_->destroy(window_swap_chain_);
-        window_swap_chain_ = engine_->createSwapChain(config_.native_window);
-      }
-      window_width_ = request.width;
-      window_height_ = request.height;
-    }
-
-    SceneView::RenderRequest scene_view_request;
-    scene_view_request.draw_mode = request.draw_mode;
-    scene_view_request.viewport = {0, 0, request.width, request.height};
-    scene_view_request.camera = request.camera;
-    scene_view_request.enable_ux = request.draw_ux;
-    if (renderer_->beginFrame(window_swap_chain_)) {
-      request.scene->Render(renderer_, scene_view_request);
       renderer_->endFrame();
+      render_began = false;
     }
+    current_target = request.target;
 
+    if (current_target == nullptr) {
+      if (!read_requests.empty()) {
+        mju_error("Cannot read pixels from the window.");
+      }
+
+      if constexpr (UTILS_HAS_THREADING) {
+        // Wait until previous frame is completed before requesting a new frame.
+        engine_->flushAndWait();
+      }
+
+      // If the window size has changed, we need to reacquire the swap chain.
+      if (request.width != window_width_ || request.height != window_height_) {
+        if (window_width_ != 0 && window_height_ != 0) {
+          engine_->destroy(window_swap_chain_);
+          window_swap_chain_ = engine_->createSwapChain(config_.native_window);
+        }
+        window_width_ = request.width;
+        window_height_ = request.height;
+      }
+
+      if (!render_began) {
+        render_began = renderer_->beginFrame(window_swap_chain_);
+      }
+      if (render_began) {
+        SceneView::RenderRequest scene_view_request;
+        scene_view_request.draw_mode = request.draw_mode;
+        scene_view_request.viewport = {0, 0, request.width, request.height};
+        scene_view_request.camera = request.camera;
+        request.scene->Render(renderer_, scene_view_request);
+      }
+    } else {
+      if (read_requests.empty()) {
+        mju_error(
+            "Rendering to a render target without a read request is pointless.");
+      }
+
+      const ReadPixelsRequest& read_request = read_requests[0];
+      if (read_request.num_bytes == 0) {
+        mju_error("Output buffer size is zero.");
+      }
+
+      if (!render_began) {
+        render_began = renderer_->beginFrame(offscreen_swap_chain_);
+      }
+      if (render_began) {
+        SceneView::RenderRequest scene_view_request;
+        scene_view_request.draw_mode = request.draw_mode;
+        scene_view_request.viewport = {0, 0, request.width, request.height};
+        scene_view_request.camera = request.camera;
+        scene_view_request.target = request.target;
+        request.scene->Render(renderer_, scene_view_request);
+        request.target->ReadColorPixels(renderer_, read_request.output,
+                                        read_request.num_bytes);
+      }
+    }
+  }
+
+  if (render_began) {
+    renderer_->endFrame();
+    render_began = false;
     if constexpr (!UTILS_HAS_THREADING) {
       engine_->execute();
     }
-  } else {
+  }
-    if (read_requests.empty()) {
-      mju_error(
-          "Rendering to a render target without a read request is pointless.");
-    }
 
-    const ReadPixelsRequest& read_request = read_requests[0];
+  if (!read_requests.empty()) {
-    if (read_request.num_bytes == 0) {
-      mju_error("Output buffer size is zero.");
-
-    }
-
-    if (renderer_->beginFrame(offscreen_swap_chain_)) {
-      SceneView::RenderRequest scene_view_request;
-      scene_view_request.draw_mode = request.draw_mode;
-      scene_view_request.viewport = {0, 0, request.width, request.height};
-      scene_view_request.camera = request.camera;
-      scene_view_request.enable_ux = request.draw_ux;
-      scene_view_request.target = request.target;
-      request.scene->Render(renderer_, scene_view_request);
-      request.target->ReadColorPixels(renderer_, read_request.output,
-                                      read_request.num_bytes);
-      renderer_->endFrame();
-    }
     engine_->flushAndWait();
-    if (read_request.read_completed_callback) {
+    if (read_requests[0].read_completed_callback) {
-      read_request.read_completed_callback(read_request.user_data);
+      read_requests[0].read_completed_callback(read_requests[0].user_data);
     }
   }
+
   return ++frame_counter_;
 }
 

src/experimental/filament/filament/filament_context.h

@@ -59,10 +59,6 @@ class FilamentContext {
     // will be rendered to the window (as previously configured in
     // mjrFilamentConfig::native_window).
     RenderTarget* target = nullptr;
-
-    // Whether or not to include the UX scene in the render. (The SceneView
-    // stores both a main simulation scene and the UX scene.)
-    bool draw_ux = true;
   };
 
   // Information needed to read pixels from a render target.

src/experimental/filament/filament/imgui_bridge.cc

@@ -37,8 +37,13 @@ namespace mujoco {
 using filament::math::float3;
 using filament::math::mat3f;
 
-ImguiBridge::ImguiBridge(ObjectManager* object_mgr, SceneView* scene_view)
+ImguiBridge::ImguiBridge(ObjectManager* object_mgr)
-    : object_mgr_(object_mgr), scene_view_(scene_view) {}
+    : object_mgr_(object_mgr) {
+  scene_view_ = std::make_unique<SceneView>(object_mgr_->GetEngine());
+  scene_view_->DisableShadows();
+  scene_view_->DisableReflections();
+  scene_view_->DisablePostProcessing();
+}
 
 ImguiBridge::~ImguiBridge() { PrepareRenderables(0); }
 
@@ -279,10 +284,10 @@ void ImguiBridge::PrepareRenderables(int count) {
     r->SetCastShadows(false);
     r->SetReceiveShadows(false);
     r->SetBlendOrder(static_cast<std::uint16_t>(renderables_.size()));
-    scene_view_->AddToUxScene(r.get());
+    scene_view_->AddToScene(r.get());
   }
   while (renderables_.size() > count) {
-    scene_view_->RemoveFromUxScene(renderables_.back().get());
+    scene_view_->RemoveFromScene(renderables_.back().get());
     renderables_.pop_back();
   }
 }

src/experimental/filament/filament/imgui_bridge.h

@@ -29,10 +29,10 @@
 
 namespace mujoco {
 
-// Manages Renderables that will be added a SceneView's UX scene.
+// Creates and manages a SceneView using data read from ImGui.
 class ImguiBridge {
  public:
-  ImguiBridge(ObjectManager* object_mgr, SceneView* scene_view);
+  explicit ImguiBridge(ObjectManager* object_mgr);
   ~ImguiBridge();
 
   // Prepares the Renderables using data from the current ImGui state. This
@@ -40,6 +40,9 @@ class ImguiBridge {
   // synced.
   void Update();
 
+  // Returns the managed UX scene.
+  SceneView* GetSceneView() const { return scene_view_.get(); }
+
   // 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,
                         int height, int bpp);
@@ -57,7 +60,7 @@ class ImguiBridge {
   void DestroyTexture(ImTextureData* data);
 
   ObjectManager* object_mgr_ = nullptr;
-  SceneView* scene_view_ = nullptr;
+  std::unique_ptr<SceneView> scene_view_;
   std::vector<std::unique_ptr<Renderable>> renderables_;
   std::vector<std::unique_ptr<Mesh>> meshes_;
   std::unordered_map<uintptr_t, std::unique_ptr<Texture>> textures_;

src/experimental/filament/filament/mjr_filament_renderer.cc

@@ -14,6 +14,7 @@
 
 #include "experimental/filament/filament/mjr_filament_renderer.h"
 
+#include <cstddef>
 #include <cstdint>
 #include <memory>
 
@@ -28,7 +29,6 @@
 #include "experimental/filament/filament/model_util.h"
 #include "experimental/filament/filament/render_target.h"
 #include "experimental/filament/filament/scene_bridge.h"
-#include "experimental/filament/filament/scene_view.h"
 #include "experimental/filament/filament/texture.h"
 #include "experimental/filament/render_context_filament.h"
 
@@ -39,11 +39,31 @@ MjrFilamentRenderer::MjrFilamentRenderer(const mjrFilamentConfig* config)
 }
 
 void MjrFilamentRenderer::Init(const mjModel* model) {
-  scene_view_ = std::make_unique<SceneView>(GetEngine());
+  scene_bridge_ = std::make_unique<SceneBridge>(GetObjectManager(), model);
-  scene_bridge_ = std::make_unique<SceneBridge>(GetObjectManager(),
+  imgui_bridge_ = std::make_unique<ImguiBridge>(GetObjectManager());
-                                                scene_view_.get(), model);
+
-  imgui_bridge_ =
+  render_requests_[0].scene = scene_bridge_->GetSceneView();
-      std::make_unique<ImguiBridge>(GetObjectManager(), scene_view_.get());
+  render_requests_[0].draw_mode = DrawMode::Color;
+
+  render_requests_[1].scene = imgui_bridge_->GetSceneView();
+  render_requests_[1].draw_mode = DrawMode::Color;
+
+  // The UX camera is a fixed orthographic camera. We only need to change the
+  // width/height based on the viewport per frame.
+  render_requests_[1].camera.orthographic = true;
+  render_requests_[1].camera.pos[0] = 0.0f;
+  render_requests_[1].camera.pos[1] = 0.0f;
+  render_requests_[1].camera.pos[2] = 1.0f;
+  render_requests_[1].camera.forward[0] = 0.0f;
+  render_requests_[1].camera.forward[1] = 0.0f;
+  render_requests_[1].camera.forward[2] = -1.0f;
+  render_requests_[1].camera.up[0] = 0.0f;
+  render_requests_[1].camera.up[1] = 1.0f;
+  render_requests_[1].camera.up[2] = 0.0f;
+  render_requests_[1].camera.frustum_top = 0.0f;
+  render_requests_[1].camera.frustum_near = 0.0f;
+  render_requests_[1].camera.frustum_far = 1.0f;
+
 
   SetClearColor(ReadElement(model, "filament.clearColor",
                             filament::math::float4(0, 0, 0, 1)));
@@ -53,46 +73,45 @@ void MjrFilamentRenderer::Render(const mjrRect& viewport, const mjvScene* scene)
   scene_bridge_->Update(viewport, scene);
   // Update the UX renderable entity after processing the scene in case there
   // are any elements in the scene which generate UX draw calls (e.g. labels).
-  if (imgui_bridge_ && gui_swap_chain_target_ == scene_swap_chain_target_) {
+  if (mode_ != FrameBufferMode::OffScreen) {
-    // Prepare the filament Renderable that contains the GUI draw commands. We
-    // must call this function even if we do not plan on rendering the GUI to
-    // ensure the ImGui state is updated.
     imgui_bridge_->Update();
   }
 
-  last_render_mode_ = DrawMode::Color;
   if (scene->flags[mjRND_SEGMENT]) {
-    last_render_mode_ = DrawMode::Segmentation;
+    render_requests_[0].draw_mode  = DrawMode::Segmentation;
   } else if (scene->flags[mjRND_DEPTH]) {
-    last_render_mode_ = DrawMode::Depth;
+    render_requests_[0].draw_mode  = DrawMode::Depth;
+  } else {
+    render_requests_[0].draw_mode  = DrawMode::Color;
   }
-  last_camera_ = mjv_averageCamera(scene->camera, scene->camera + 1);
 
-  if (scene_swap_chain_target_ == kWindowSwapChain) {
+  render_requests_[0].width = viewport.width;
-    RenderRequest request;
+  render_requests_[0].height = viewport.height;
-    request.scene = scene_view_.get();
+  render_requests_[1].width = viewport.width;
-    request.draw_mode = last_render_mode_;
+  render_requests_[1].height = viewport.height;
-    request.camera = last_camera_;
+
-    request.draw_ux = (gui_swap_chain_target_ == kWindowSwapChain);
+  render_requests_[0].camera = mjv_averageCamera(scene->camera, scene->camera + 1);
-    request.width = viewport.width;
+  render_requests_[1].camera.frustum_center = viewport.width / 2.0f;
-    request.height = viewport.height;
+  render_requests_[1].camera.frustum_width = viewport.width / 2.0f;
-    FilamentContext::Render({&request, 1});
+  render_requests_[1].camera.frustum_bottom = viewport.height;
+
+  if (mode_ == FrameBufferMode::Window) {
+    render_requests_[0].target = nullptr;
+    render_requests_[1].target = nullptr;
+    FilamentContext::Render(render_requests_);
   }
 }
 
 void MjrFilamentRenderer::SetFrameBuffer(int framebuffer) {
   switch (framebuffer) {
     case mjFB_WINDOW:
-      scene_swap_chain_target_ = kWindowSwapChain;
+      mode_ = FrameBufferMode::Window;
-      gui_swap_chain_target_ = kWindowSwapChain;
       break;
     case mjFB_OFFSCREEN:
-      scene_swap_chain_target_ = kOffscreenSwapChain;
+      mode_ = FrameBufferMode::OffScreen;
-      gui_swap_chain_target_ = kWindowSwapChain;
       break;
     case 2:  // No official constant fo this.
-      scene_swap_chain_target_ = kOffscreenSwapChain;
+      mode_ = FrameBufferMode::OffScreenWithGui;
-      gui_swap_chain_target_ = kOffscreenSwapChain;
       break;
     default:
       mju_error("Invalid framebuffer mode: %d", framebuffer);
@@ -101,53 +120,62 @@ void MjrFilamentRenderer::SetFrameBuffer(int framebuffer) {
 
 void MjrFilamentRenderer::ReadPixels(mjrRect viewport, unsigned char* rgb,
                                      float* depth) {
-  if (scene_swap_chain_target_ != kOffscreenSwapChain) {
+  if (mode_ == FrameBufferMode::Window) {
     mju_error("ReadPixels is only supported for offscreen rendering.");
   }
 
-  RenderRequest request;
+  render_requests_[0].width = viewport.width;
-  request.scene = scene_view_.get();
+  render_requests_[0].height = viewport.height;
-  request.camera = last_camera_;
+  render_requests_[1].width = viewport.width;
-  request.draw_ux = (gui_swap_chain_target_ == kOffscreenSwapChain);
+  render_requests_[1].height = viewport.height;
-  request.width = viewport.width;
-  request.height = viewport.height;
 
   if (rgb) {
-    request.draw_mode = last_render_mode_;
-
     RenderTargetConfig config;
     DefaultRenderTargetConfig(&config);
     config.color_format = mjPIXEL_FORMAT_RGB8;
     config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
     auto target = std::make_unique<RenderTarget>(GetEngine(), config);
-    target->Prepare(request.width, request.height);
+    target->Prepare(viewport.width, viewport.height);
-    request.target = target.get();
+    render_requests_[0].target = target.get();
+    render_requests_[1].target = target.get();
+
+    const size_t num_requests =
+        (mode_ == FrameBufferMode::OffScreenWithGui) ? 2 : 1;
 
     ReadPixelsRequest read_request;
     read_request.output = rgb;
     read_request.num_bytes = viewport.width * viewport.height * 3;
-    const FrameHandle frame =
+    const FrameHandle frame = FilamentContext::Render(
-        FilamentContext::Render({&request, 1}, {&read_request, 1});
+        {&render_requests_[0], num_requests}, {&read_request, 1});
     FilamentContext::WaitForFrame(frame);
+
+    render_requests_[0].target = nullptr;
+    render_requests_[1].target = nullptr;
   }
 
   if (depth) {
-    request.draw_mode = DrawMode::Depth;
-
     RenderTargetConfig config;
     DefaultRenderTargetConfig(&config);
     config.color_format = mjPIXEL_FORMAT_R32F;
     config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
     auto target = std::make_unique<RenderTarget>(GetEngine(), config);
-    target->Prepare(request.width, request.height);
+    target->Prepare(viewport.width, viewport.height);
-    request.target = target.get();
+    render_requests_[0].target = target.get();
+    render_requests_[1].target = target.get();
+
+    DrawMode last_draw_mode = render_requests_[0].draw_mode;
+    render_requests_[0].draw_mode = DrawMode::Depth;
 
     ReadPixelsRequest read_request;
     read_request.output = reinterpret_cast<uint8_t*>(depth);
     read_request.num_bytes = viewport.width * viewport.height * sizeof(float);
     const FrameHandle frame =
-        FilamentContext::Render({&request, 1}, {&read_request, 1});
+        FilamentContext::Render({&render_requests_[0], 1}, {&read_request, 1});
     FilamentContext::WaitForFrame(frame);
+
+    render_requests_[0].target = nullptr;
+    render_requests_[1].target = nullptr;
+    render_requests_[0].draw_mode = last_draw_mode;
   }
 }
 
@@ -175,10 +203,7 @@ void MjrFilamentRenderer::UploadHeightField(const mjModel* model, int id) {
 uintptr_t MjrFilamentRenderer::UploadGuiImage(uintptr_t tex_id,
                                           const uint8_t* pixels, int width,
                                           int height, int bpp) {
-  if (imgui_bridge_) {
+  return imgui_bridge_->UploadImage(tex_id, pixels, width, height, bpp);
-    return imgui_bridge_->UploadImage(tex_id, pixels, width, height, bpp);
-  }
-  return 0;
 }
 
 void MjrFilamentRenderer::UpdateGui() { DrawGui(scene_bridge_.get()); }

src/experimental/filament/filament/mjr_filament_renderer.h

@@ -25,7 +25,6 @@
 #include "experimental/filament/filament/filament_context.h"
 #include "experimental/filament/filament/imgui_bridge.h"
 #include "experimental/filament/filament/scene_bridge.h"
-#include "experimental/filament/filament/scene_view.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
@@ -71,16 +70,14 @@ class MjrFilamentRenderer : public FilamentContext {
   MjrFilamentRenderer& operator=(const MjrFilamentRenderer&) = delete;
 
  private:
-  enum SwapChainType {
+  enum class FrameBufferMode {
-    kWindowSwapChain,
+    Window,
-    kOffscreenSwapChain,
+    OffScreen,
+    OffScreenWithGui,
   };
 
-  DrawMode last_render_mode_ = DrawMode::Color;
+  FrameBufferMode mode_ = FrameBufferMode::Window;
-  mjvGLCamera last_camera_;
+  RenderRequest render_requests_[2];
-  SwapChainType scene_swap_chain_target_ = kWindowSwapChain;
-  SwapChainType gui_swap_chain_target_ = kWindowSwapChain;
-  std::unique_ptr<SceneView> scene_view_;
   std::unique_ptr<SceneBridge> scene_bridge_;
   std::unique_ptr<ImguiBridge> imgui_bridge_;
 };

src/experimental/filament/filament/scene_bridge.cc

@@ -87,9 +87,9 @@ static std::unique_ptr<Texture> CreateFallbackIndirectLightTexture(
   return texture;
 }
 
-SceneBridge::SceneBridge(ObjectManager* object_mgr, SceneView* scene_view,
+SceneBridge::SceneBridge(ObjectManager* object_mgr, const mjModel* model)
-                         const mjModel* model)
+    : object_mgr_(object_mgr) {
-    : scene_view_(scene_view), object_mgr_(object_mgr) {
+  scene_view_ = std::make_unique<SceneView>(object_mgr_->GetEngine());
   model_objects_ =
       std::make_unique<ModelObjects>(model, object_mgr_->GetEngine());
 
@@ -354,8 +354,16 @@ filament::math::mat4 CalculateClipFromWorld(const mjrRect& viewport,
 }
 
 void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
-  filament::View* view = scene_view_->GetDefaultRenderView();
+  if (scene->flags[mjRND_SHADOW]) {
-  view->setShadowingEnabled(scene->flags[mjRND_SHADOW] ? true : false);
+    scene_view_->EnableShadows();
+  } else {
+    scene_view_->DisableShadows();
+  }
+  if (scene->flags[mjRND_REFLECTION]) {
+    scene_view_->EnableReflections();
+  } else {
+    scene_view_->DisableReflections();
+  }
 
   mjtNum hpos[3], hfwd[3];
   float headpos[3], gazedir[3];

src/experimental/filament/filament/scene_bridge.h

@@ -25,7 +25,6 @@
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/light.h"
-#include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/renderable.h"
@@ -37,8 +36,7 @@ namespace mujoco {
 // Manages all mjModel data and updates a SceneView using an mjvScene.
 class SceneBridge {
  public:
-  SceneBridge(ObjectManager* object_mgr, SceneView* scene_view,
+  SceneBridge(ObjectManager* object_mgr, const mjModel* model);
-              const mjModel* model);
   ~SceneBridge();
 
   // Updates the environment light using the KTX image at the given path.
@@ -56,7 +54,8 @@ class SceneBridge {
   void UploadTexture(const mjModel* model, int id);
   void UploadHeightField(const mjModel* model, int id);
 
-  SceneView* GetSceneView() const { return scene_view_; }
+  // Returns the managed scene.
+  SceneView* GetSceneView() const { return scene_view_.get(); }
 
   SceneBridge(const SceneBridge&) = delete;
   SceneBridge& operator=(const SceneBridge&) = delete;
@@ -69,7 +68,7 @@ class SceneBridge {
   std::optional<filament::math::float3> ClipFromWorld(
       const filament::math::float3& pos) const;
 
-  SceneView* scene_view_ = nullptr;
+  std::unique_ptr<SceneView> scene_view_;
   ObjectManager* object_mgr_ = nullptr;
   std::unique_ptr<ModelObjects> model_objects_;
   std::unique_ptr<Light> fallback_ibl_;

src/experimental/filament/filament/scene_geom_util.cc

@@ -351,7 +351,6 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
   const mjModel* model = model_objs->GetModel();
 
   const bool use_segid_color = scene->flags[mjRND_IDCOLOR];
-  const bool enable_reflection = scene->flags[mjRND_REFLECTION];
   MaterialParams params;
   params.color = ReadFloat4(geom.rgba);
   if (geom.type == mjGEOM_PLANE) {
@@ -361,8 +360,7 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
       params.reflective = false;
     } else {
       renderable.SetReceiveShadows(true);
-      params.reflective =
+      params.reflective = geom.reflectance > 0 && params.color.a == 1.0f;
-          enable_reflection && geom.reflectance > 0 && params.color.a == 1.0f;
     }
   }
   renderable.SetLayerMask(geom.category);

src/experimental/filament/filament/scene_view.cc

@@ -127,9 +127,7 @@ static void SetupReflectionCamera(const mat4& surface_xform,
 
 SceneView::SceneView(filament::Engine* engine) : engine_(engine) {
   scene_ = engine->createScene();
-  ux_scene_ = engine->createScene();
   camera_ = engine->createCamera(utils::EntityManager::get().create());
-  ux_camera_ = engine->createCamera(utils::EntityManager::get().create());
   reflect_camera_ = engine->createCamera(utils::EntityManager::get().create());
 
   for (auto& view : views_) {
@@ -139,12 +137,6 @@ SceneView::SceneView(filament::Engine* engine) : engine_(engine) {
     view->setVisibleLayers(0xff, mjCAT_ALL);
   }
 
-  ux_view_ = engine->createView();
-  ux_view_->setScene(ux_scene_);
-  ux_view_->setCamera(ux_camera_);
-  ux_view_->setPostProcessingEnabled(false);
-  ux_view_->setShadowingEnabled(false);
-
   reflect_view_ = engine->createView();
   reflect_view_->setScene(scene_);
   reflect_view_->setCamera(reflect_camera_);
@@ -172,22 +164,16 @@ SceneView::~SceneView() {
   for (auto& renderable : renderables_) {
     renderable->RemoveFromScene(scene_);
   }
-  for (auto& renderable : ux_renderables_) {
-    renderable->RemoveFromScene(ux_scene_);
-  }
   lights_.clear();
   renderables_.clear();
   reflect_targets_.clear();
   engine_->destroyCameraComponent(reflect_camera_->getEntity());
   engine_->destroy(reflect_view_);
-  engine_->destroyCameraComponent(ux_camera_->getEntity());
-  engine_->destroy(ux_view_);
   engine_->destroyCameraComponent(camera_->getEntity());
   if (color_grading_) {
     engine_->destroy(color_grading_);
   }
   engine_->destroy(scene_);
-  engine_->destroy(ux_scene_);
   for (auto& view : views_) {
     engine_->destroy(view);
   }
@@ -224,18 +210,6 @@ void SceneView::RemoveFromScene(Renderable* renderable) {
   }
 }
 
-void SceneView::AddToUxScene(Renderable* renderable) {
-  if (ux_renderables_.insert(renderable).second) {
-    renderable->AddToScene(ux_scene_);
-  }
-}
-
-void SceneView::RemoveFromUxScene(Renderable* renderable) {
-  if (ux_renderables_.erase(renderable)) {
-    renderable->RemoveFromScene(ux_scene_);
-  }
-}
-
 void SceneView::AddToScene(filament::Skybox* skybox) {
   skybox_ = skybox;
   scene_->setSkybox(skybox);
@@ -255,7 +229,6 @@ void SceneView::Render(filament::Renderer* renderer,
   for (auto& view : views_) {
     view->setViewport(viewport);
   }
-  ux_view_->setViewport(viewport);
   reflect_view_->setViewport(viewport);
 
   SetupCamera(request.camera, viewport, camera_);
@@ -276,7 +249,7 @@ void SceneView::Render(filament::Renderer* renderer,
   }
 
   // Render reflection passes.
-  if (request.draw_mode == DrawMode::Color) {
+  if (request.draw_mode == DrawMode::Color && reflections_enabled_) {
     for (size_t i = 0; i < reflectives_.size(); ++i) {
       Renderable* renderable = reflectives_[i];
 
@@ -301,15 +274,6 @@ void SceneView::Render(filament::Renderer* renderer,
   renderer->render(view);
   view->setRenderTarget(nullptr);
 
-  if (request.enable_ux) {
-    ux_camera_->setProjection(filament::Camera::Projection::ORTHO, 0.0f,
-                              viewport.width, viewport.height, 0.0f, 0.0f,
-                              1.0f);
-    ux_view_->setRenderTarget(render_target);
-    renderer->render(ux_view_);
-    ux_view_->setRenderTarget(nullptr);
-  }
-
   if (request.target) {
     view->setMultiSampleAntiAliasingOptions(options);
   }
@@ -335,9 +299,11 @@ void SceneView::AddReflectiveRenderable(Renderable* renderable) {
   auto& target = reflect_targets_[index];
   target->Prepare(viewport.width, viewport.height);
 
-  MaterialTextures textures = renderable->GetMaterialTextures();
+  if (reflections_enabled_) {
-  textures.reflection = target->GetColorTexture();
+    MaterialTextures textures = renderable->GetMaterialTextures();
-  renderable->UpdateMaterial(renderable->GetMaterialParams(), textures);
+    textures.reflection = target->GetColorTexture();
+    renderable->UpdateMaterial(renderable->GetMaterialParams(), textures);
+  }
 }
 
 void SceneView::SetColorGradingOptions(const ColorGradingOptions& opts) {
@@ -353,6 +319,43 @@ void SceneView::SetColorGradingOptions(const ColorGradingOptions& opts) {
   color_grading_options_ = opts;
 }
 
+void SceneView::EnableShadows() {
+  views_[kNormalIndex]->setShadowingEnabled(true);
+}
+
+void SceneView::DisableShadows() {
+  views_[kNormalIndex]->setShadowingEnabled(false);
+}
+
+void SceneView::EnableReflections() {
+  reflections_enabled_ = true;
+
+  for (int i = 0; i < reflectives_.size(); ++i) {
+    Renderable* renderable = reflectives_[i];
+    MaterialTextures textures = renderable->GetMaterialTextures();
+    textures.reflection = reflect_targets_[i]->GetColorTexture();
+    renderable->UpdateMaterial(renderable->GetMaterialParams(), textures);
+  }
+}
+
+void SceneView::DisableReflections() {
+  reflections_enabled_ = false;
+  for (Renderable* renderable : reflectives_) {
+    MaterialTextures textures = renderable->GetMaterialTextures();
+    textures.reflection = nullptr;
+    renderable->UpdateMaterial(renderable->GetMaterialParams(), textures);
+  }
+
+}
+
+void SceneView::EnablePostProcessing() {
+  views_[kNormalIndex]->setPostProcessingEnabled(true);
+}
+
+void SceneView::DisablePostProcessing() {
+  views_[kNormalIndex]->setPostProcessingEnabled(false);
+}
+
 filament::View* SceneView::GetDefaultRenderView() {
   return views_[kNormalIndex];
 }

src/experimental/filament/filament/scene_view.h

@@ -38,8 +38,7 @@ namespace mujoco {
 //
 // The filament Scene is populated with the objects (e.g. lights, renderables,
 // skybox, etc.). It manages multiple views to support a variety of draw modes
-// (e.g. normal, depth, segmentation, etc.) as well as reflective surfaces. It
+// (e.g. normal, depth, segmentation, etc.) as well as reflective surfaces.
-// also manages a separate scene and view for UX rendering.
 class SceneView {
  public:
   SceneView(filament::Engine* engine);
@@ -53,10 +52,6 @@ class SceneView {
   void AddToScene(filament::Skybox* skybox);
   void RemoveFromScene(filament::Skybox* skybox);
 
-  // Adds/removes entities from the UX scene, which is rendered separately.
-  void AddToUxScene(Renderable* renderable);
-  void RemoveFromUxScene(Renderable* renderable);
-
   // Parameters for rendering the scene.
   struct RenderRequest {
     // The draw mode (e.g. normal, depth, segmentation) to render.
@@ -67,8 +62,6 @@ class SceneView {
     mjvGLCamera camera;
     // An optional render target into which the scene will be rendered.
     RenderTarget* target = nullptr;
-    // Whether or not to render the UX as a separate pass.
-    bool enable_ux = false;
   };
 
   // Renders the scene.
@@ -77,6 +70,18 @@ class SceneView {
   // Returns the filament Engine managing the scene.
   filament::Engine* GetEngine() const { return engine_; }
 
+  // Enables/disables shadows for the default render view.
+  void EnableShadows();
+  void DisableShadows();
+
+  // Enables/disables reflections for the default render view.
+  void EnableReflections();
+  void DisableReflections();
+
+  // Enables/disables post processing for the default render view.
+  void EnablePostProcessing();
+  void DisablePostProcessing();
+
   // Returns the underlying filament View that is used for normal rendering.
   // Callers can update rendering settings (e.g. post processing) directly.
   filament::View* GetDefaultRenderView();
@@ -95,7 +100,6 @@ class SceneView {
 
   filament::Engine* engine_ = nullptr;
   filament::Scene* scene_ = nullptr;
-  filament::Scene* ux_scene_ = nullptr;
   filament::Camera* camera_ = nullptr;
   filament::ColorGrading* color_grading_ = nullptr;
   ColorGradingOptions color_grading_options_;
@@ -106,16 +110,12 @@ class SceneView {
   std::unordered_set<Renderable*> renderables_;
   filament::Skybox* skybox_ = nullptr;
 
-  // Custom view for UX.
-  filament::View* ux_view_ = nullptr;
-  filament::Camera* ux_camera_ = nullptr;
-  std::unordered_set<Renderable*> ux_renderables_;
-
   // Custom view and camera for reflective surfaces.
   filament::View* reflect_view_ = nullptr;
   filament::Camera* reflect_camera_ = nullptr;
 
   // The list of reflective renderables and their corresponding render targets.
+  bool reflections_enabled_ = true;
   std::vector<Renderable*> reflectives_;
   std::vector<std::unique_ptr<RenderTarget>> reflect_targets_;
 };