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Track size/scale separately for renderables.

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PiperOrigin-RevId: 918476985
Change-Id: I414b1abe2f9b3a3a7549ab5195971127d5598c36
This commit is contained in:
Haroon Qureshi
2026-05-20 08:53:51 -07:00
committed by Copybara-Service
parent 6aa738e75b
commit 57d2c49316
7 changed files with 73 additions and 51 deletions
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src/experimental/filament/compat/scene_geom_util.cc
+15 -17
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@@ -57,29 +57,21 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
std::memcpy(position, &geom.pos, 3 * sizeof(float));
float rotation[9];
std::memcpy(rotation, &geom.mat, 9 * sizeof(float));
float size[3];
std::memcpy(size, &geom.size, 3 * sizeof(float));
const mjtGeom geom_type = (mjtGeom)geom.type;
switch (geom_type) {
case mjGEOM_MESH:
case mjGEOM_SDF:
mjrf_setRenderableMesh(renderable, model_objs->GetMesh(geom.dataid), 0, 0);
// Ignore size for meshes.
size[0] = 1.f;
size[1] = 1.f;
size[2] = 1.f;
break;
case mjGEOM_HFIELD:
mjrf_setRenderableMesh(renderable, model_objs->GetHeightField(geom.dataid), 0, 0);
// Ignore size for meshes.
size[0] = 1.f;
size[1] = 1.f;
size[2] = 1.f;
break;
case mjGEOM_PLANE: {
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
float size[3];
std::memcpy(size, &geom.size, 3 * sizeof(float));
const bool is_infinite = !(size[0] > 0 && size[1] > 0);
if (is_infinite) {
// Infinite planes are scaled to match the tile size used by
@@ -90,40 +82,52 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
}
// Planes only define an xy size, so set the z-dimension to 1.0f.
size[2] = 1.0f;
mjrf_setRenderableSize(renderable, size);
break;
}
case mjGEOM_SPHERE:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_ELLIPSOID:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_BOX:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_CAPSULE:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_CYLINDER:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_ARROW:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_ARROW1:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_ARROW2:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_LINE:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_LINEBOX:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_TRIANGLE:
mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_FLEX:
mjrf_setRenderableMesh(renderable, model_objs->GetFlexSkinMesh(geom.objid), 0, 0);
@@ -133,9 +137,6 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
rotation[0] = 1.f;
rotation[4] = 1.f;
rotation[8] = 1.f;
size[0] = 1.f;
size[1] = 1.f;
size[2] = 1.f;
break;
case mjGEOM_SKIN:
mjrf_setRenderableMesh(renderable, model_objs->GetFlexSkinMesh(geom.objid), 0, 0);
@@ -145,9 +146,6 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
rotation[0] = 1.f;
rotation[4] = 1.f;
rotation[8] = 1.f;
size[0] = 1.f;
size[1] = 1.f;
size[2] = 1.f;
break;
case mjGEOM_NONE:
case mjGEOM_LABEL:
@@ -158,7 +156,7 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
break;
}
mjrf_setRenderableTransform(renderable, position, rotation, size);
mjrf_setRenderableTransform(renderable, position, rotation);
}
static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,