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@@ -29,7 +29,37 @@ extern "C" {
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// IMPORTANT: This API should still be considered experimental and is likely
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// change frequently.
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// Opaque types.
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// This library provides a C API for the filament rendering library
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// (https://github.com/google/filament) that is designed to work with the
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// MuJoCo library for visualizing simulations.
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//
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// The filament renderer is a real-time physically based rendering (PBR) engine
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// developed by Google. It is designed to be as small as possible and as
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// efficient as possible, while still providing high-quality results. It works
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// across all major platforms (Linux, Windows, macOS, Android, iOS, Web) and
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// supports OpenGL, Vulkan, and Metal.
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//
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// For the purposes of this API, we assume the reader has a basic understanding
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// of rendering concepts (e.g. textures, vertices, cameras, framebuffers, etc.).
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// We will also highlight some of the key differences between this renderer and
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// the legacy/classic MuJoCo (mjr) renderer.
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//
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// ## API Overview
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//
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// There are seven key components: Context, Texture, Mesh, Scene, Light,
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// Renderable, and RenderTarget. We'll describe these in detail further below.
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//
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// Each object is created using a `create` function and destroyed using a
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// `destroy` function, e.g. `mjrf_createTexture` and `mjrf_destroyTexture`.
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// The `create` functions accept a pointer to a configuration struct (e.g.
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// `mjrTextureConfig`) which describes the parameters for the object to be
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// created. Each of these structs has a corresponding `default` function (e.g.
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// `mjr_defaultTextureConfig`) which can be used to initialize the struct to
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// default values. Default values are assumed to be 0/NULL unless otherwise
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// specified.
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//
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// For now, we'll just define opaque handles for each of our components.
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struct mjrfContext {};
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struct mjrTexture {};
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struct mjrMesh {};
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struct mjrScene {};
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@@ -37,10 +67,66 @@ struct mjrLight {};
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struct mjrRenderable {};
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struct mjrRenderTarget {};
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// Opaque type for the filament rendering context.
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struct mjrfContext {};
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// The different modes that can be used to render a scene.
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// ## Rendering Context (mjrfContext)
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//
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// The Context is the main entry point for the library. It manages all the
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// core filament objects that are responsible for the rendering of an image.
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//
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// Filament uses a separate thread for doing the actual rendering. However,
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// despite that, this API is not thread-safe; calls are expected to be made
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// from a single thread. Also, due to the asynchronous nature of filament,
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// some APIs provide handles or callbacks to signal when an operation is
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// complete. (Note: for WASM builds, filament does not use a separate thread.)
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//
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// All other objects (e.g. Textures, Meshes, Scenes, etc.) need a Context in
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// order to be created. Otherwise, the main function to use with the Context is
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// `mjrf_render()` which does the actual rendering.
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//
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// There are two key differences between the mjrfContext and the classic
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// mjrContext. Firstly, the filament context will manage the underlying graphics
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// context itself. This means users do not need to initialize EGL or similar
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// libraries beforehand. Secondly, the filament context is independent of a
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// MuJoCo model. That means you can use a single mjrfContext to render images
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// for multiple models.
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// Underlying graphics API library to use for the Context.
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typedef enum mjrGraphicsApi_ {
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// Default, based on current platform.
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mjGRAPHICS_API_DEFAULT = 0,
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// OpenGL (desktop), GLES (mobile), WebGL (web)
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mjGRAPHICS_API_OPENGL,
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// Vulkan
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mjGRAPHICS_API_VULKAN,
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} mjrGraphicsApi;
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// Configuration parameters for the filament rendering context.
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struct mjrFilamentConfig {
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// The native window handle into which we can render directly. If nullptr,
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// rendering will be done to an offscreen framebuffer.
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void* native_window;
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// The initial width and height of the offscreen framebuffer.
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int width;
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int height;
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// The backend graphics API to use.
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mjrGraphicsApi graphics_api;
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// Use software rendering even if the platform supports hardware rendering.
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mjtByte force_software_rendering;
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};
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// Initializes the mjrFilamentConfig to default values.
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void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
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// Creates a filament rendering context.
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mjrfContext* mjrf_createContext(const mjrFilamentConfig* config);
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// Destroys the filament rendering context.
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void mjrf_destroyContext(mjrfContext* ctx);
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// Describes the look/intention of the final rendered image.
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typedef enum mjrDrawMode_ {
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// Render the scene with "normal" colors and lighting.
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mjDRAW_MODE_COLOR,
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@@ -51,19 +137,198 @@ typedef enum mjrDrawMode_ {
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mjDRAW_MODE_SEGMENTATION,
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} mjrDrawMode;
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enum { mjNUM_DRAW_MODES = 3 };
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enum { mjNUM_DRAW_MODES = 3 }; // Number of modes in `mjrDrawMode`.
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// The type of data stored in an index buffer.
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typedef enum mjrIndexType_ {
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mjINDEX_TYPE_U16 = 0,
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mjINDEX_TYPE_U32,
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} mjrIndexType;
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// Parameters describing the camera to use for rendering an image.
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typedef mjvGLCamera mjrCamera;
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// The type of primitive to be drawn by vertex data.
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typedef enum mjrMeshPrimitiveType_ {
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mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0,
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mjMESH_PRIMITIVE_TYPE_LINES,
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} mjrMeshPrimitiveType;
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// Describes a single rendering operation; used by `mjrf_render()`.
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struct mjrRenderRequest {
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// The scene to render.
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mjrScene* scene;
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// The camera from which to render the scene.
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mjrCamera camera;
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// The method (e.g. Color, Depth, Segmentation, etc.) to use for rendering.
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mjrDrawMode draw_mode;
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// The viewport into which to render the image.
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mjrRect viewport;
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// The render target into which to render the image. If nullptr, the image
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// will be rendered to the window (as previously configured in
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// mjrFilamentConfig::native_window).
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mjrRenderTarget* target;
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};
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// Initializes the mjrRenderRequest to default values.
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void mjr_defaultRenderRequest(mjrRenderRequest* request);
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// Information needed to read pixels; used by `mjrf_render()`.
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struct mjrReadPixelsRequest {
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// The render target from which to read the image pixels.
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mjrRenderTarget* target;
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// The buffer into which the read pixels will be written.
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void* output;
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// The number of bytes in the output buffer. This should match the size of
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// the render target texture.
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mjtSize num_bytes;
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// Callback when the read pixels operation is complete. This function can
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// optionally be used to free the output buffer if needed.
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void (*read_completed_callback)(void* user_data);
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// User data to pass to the completion callback.
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void* user_data;
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};
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// Initializes the mjrReadPixelsRequest to default values.
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void mjr_defaultReadPixelsRequest(mjrReadPixelsRequest* request);
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// Because rendering is asynchronous, each render request is assigned a
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// unique Handle which can be used to query the status of the request. The
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// Handle can also be used to block until the request is completed.
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typedef std::uint64_t mjrFrameHandle;
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// Submits the given requests for rendering. Because rendering may happen
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// asynchronously, we have to submit both the render and read requests in the
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// same call. This function is also when any callbacks will be triggered,
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// though there is no guarantee on when exactly that will be done.
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//
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// Multiple requests and reads can be submitted in a single call. These
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// requests will be processed in order, so some care must be taken. Firstly,
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// requests should be grouped by target. Next, the combined area of the
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// viewports for all requests for a given target must be contained within the
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// dimensions of the target itself.
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mjrFrameHandle mjrf_render(mjrfContext* ctx, const mjrRenderRequest* req,
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int nreq, const mjrReadPixelsRequest* read_req,
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int nread_req);
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// Waits for all rendering operations to complete for the given frame handle,
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// triggering any callbacks as needed.
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void mjrf_waitForFrame(mjrfContext* ctx, mjrFrameHandle frame);
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// Information about a single frame of rendering.
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struct mjrFrameStats {
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// The frame rate of the renderer, in frames per second.
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double frame_rate;
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};
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// Initializes the mjrFrameStats to default values.
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void mjr_defaultFrameStats(mjrFrameStats* stats);
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// Returns the stats for the given frame but updating the given `stats_out`.
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void mjrf_getFrameStats(mjrfContext* ctx, mjrFrameHandle frame,
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mjrFrameStats* stats_out);
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// ## Textures (mjrTexture)
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//
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// A texture is a 2D or 3D (cubemap) image that adds visual detail to a rendered
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// model, such as color or bumpiness, without increasing geometric complexity.
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//
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// For textures intended to be used for image-based lights (see `mjrLight`
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// below), you should use filament's `cmgen` tool to generate a KTX image from
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// your source image. This tool will calculate additional data (i.e. the
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// spherical harmonics) and encode that information into the KTX file.
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// Pixel formats for textures.
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typedef enum mjrPixelFormat_ {
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mjPIXEL_FORMAT_UNKNOWN = 0,
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mjPIXEL_FORMAT_R8,
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mjPIXEL_FORMAT_RGB8,
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mjPIXEL_FORMAT_RGBA8,
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mjPIXEL_FORMAT_R32F,
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mjPIXEL_FORMAT_DEPTH32F,
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mjPIXEL_FORMAT_KTX,
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} mjrPixelFormat;
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// Type of texture.
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typedef mjtTexture mjrSamplerType;
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// Type of color space encoding.
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typedef mjtColorSpace mjrColorSpace;
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// Defines the basic properties of a texture.
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struct mjrTextureConfig {
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// The width of the texture. For compressed textures (e.g. KTX), this is the
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// number of bytes in the compressed data.
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int width;
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// The height of the texture. For compressed textures (e.g. KTX), this should
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// be 0.
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int height;
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// How the texture will be interpreted by the renderer (e.g. 2D, cube, etc.).
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mjrSamplerType sampler_type;
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// The format of the pixels in the texture (e.g. RGB8, RGBA8, KTX, etc.)
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mjrPixelFormat format;
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// The color space of the texture (e.g. LINEAR, sRGB, etc.)
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mjrColorSpace color_space;
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};
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// Initializes the mjrTextureConfig to default values.
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void mjr_defaultTextureConfig(mjrTextureConfig* config);
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// Creates a texture with the given configuration. Note that the texture will
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// not be created on the GPU until `mjrf_setTextureData()` is called.
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mjrTexture* mjrf_createTexture(mjrfContext* ctx, const mjrTextureConfig* config);
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// Destroys the texture.
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void mjrf_destroyTexture(mjrTexture* texture);
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// The binary data for a texture.
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struct mjrTextureData {
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// Pointer to the data. If null, an empty texture will be created.
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const void* bytes;
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// The number of bytes in the image data.
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mjtSize nbytes;
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// Because rendering may be multithreaded, we cannot make assumptions about
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// when the image data will finish uploading to the GPU. As such, we will use
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// this callback to notify callers when it is safe to free the image data.
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void (*release_callback)(void* user_data);
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// User data to pass to the release callback.
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void* user_data;
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};
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// Initializes the mjrTextureData to default values.
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void mjr_defaultTextureData(mjrTextureData* data);
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// Uploads the given texture data to the texture.
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void mjrf_setTextureData(mjrTexture* texture, const mjrTextureData* data);
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// Returns the width of the texture.
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int mjrf_getTextureWidth(const mjrTexture* texture);
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// Returns the height of the texture.
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int mjrf_getTextureHeight(const mjrTexture* texture);
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// Returns the target type of the texture.
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mjrSamplerType mjrf_getSamplerType(const mjrTexture* texture);
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// ## Meshes (mjrMesh)
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//
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// A mesh describes the surface geometry of an object to be rendered. It is
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// defined as a collection of vertices (i.e. a VertexBuffer), a set of indices
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// (i.e. an IndexBuffer) that describes the order in which the vertices should
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// be processed, and a primitive type that defined how the vertices are to be
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// interpreted (e.g. triangles, lines, etc.) when rendering the surface.
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//
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// Filament does not directly support normals. Instead, it encodes the normal,
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// tangen, and bitangent into a 4-component quaternion describing the
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// "orientation" of the vertex. Ideally, you should preprocess your assets
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// to generate this data offline, but we will compute it on the fly if needed
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|
// (at a performance cost).
|
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|
//
|
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|
// We also suggest precomputing the bounds of the mesh, otherwise we will also
|
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|
// compute it on the fly.
|
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|
// The usage/purpose of an attribute of a vertex.
|
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|
|
typedef enum mjrVertexAttributeUsage_ {
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|
@@ -82,167 +347,17 @@ typedef enum mjrVertexAttributeType_ {
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mjVERTEX_ATTRIBUTE_TYPE_UBYTE4,
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} mjrVertexAttributeType;
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|
// Pixel formats for textures.
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|
|
typedef enum mjrPixelFormat_ {
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|
mjPIXEL_FORMAT_UNKNOWN = 0,
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mjPIXEL_FORMAT_R8,
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mjPIXEL_FORMAT_RGB8,
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mjPIXEL_FORMAT_RGBA8,
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mjPIXEL_FORMAT_R32F,
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mjPIXEL_FORMAT_DEPTH32F,
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mjPIXEL_FORMAT_KTX,
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} mjrPixelFormat;
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// The type of data stored in an index buffer.
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|
typedef enum mjrIndexType_ {
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|
mjINDEX_TYPE_U16 = 0,
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mjINDEX_TYPE_U32,
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} mjrIndexType;
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typedef enum mjrGraphicsApi_ { // backend graphics API to use
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mjGRAPHICS_API_DEFAULT = 0, // default based on platform
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mjGRAPHICS_API_OPENGL, // OpenGL (desktop) / WebGL
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mjGRAPHICS_API_VULKAN // Vulkan
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} mjrGraphicsApi;
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// Rendering is asynchronous by nature. Each render request is assigned a
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// unique Handle which can be used to query the status of the request. The
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// Handle can also be used to block until the request is completed.
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typedef std::uint64_t mjrFrameHandle;
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// Bring some legacy mjt types into the mjr namespace.
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typedef mjtTexture mjrSamplerType;
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typedef mjtColorSpace mjrColorSpace;
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typedef mjtLightType mjrLightType;
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typedef mjvGLCamera mjrCamera;
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// The material to be applied to a renderable.
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|
struct mjrMaterial {
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// The color of the object. Defaults to white.
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|
float color[4];
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|
// The color to use for segmentation rendering. Defaults to white.
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|
float segmentation_color[4];
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|
// Applies an addition scale to the UV coordinates of the object. Defaults to
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// (1, 1, 1).
|
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|
|
float uv_scale[3];
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|
// Applies an offset to the UV coordinates of the object. Defaults to (0, 0,
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|
// 0).
|
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|
|
float uv_offset[3];
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|
// Applies a scissor test to the object.
|
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|
|
float scissor[4];
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|
|
// Factors for PBR metallic-roughness materials.
|
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|
|
float metallic;
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|
|
float roughness;
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|
|
// Factors for (non-PBR) specular-glossiness materials.
|
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|
|
float specular;
|
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|
|
float glossiness;
|
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|
|
// The emissive (glow) factor of the object.
|
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|
|
float emissive;
|
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|
|
// Whether or not the object is a reflective surface. Only applies to planes.
|
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|
|
mjtByte reflective;
|
|
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|
|
// The blend factor to use for reflective surfaces. A value of 1.0 means that
|
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|
|
// the surface is fully reflective (i.e. a mirror).
|
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|
|
float reflectance;
|
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|
|
// If true, does not apply any lighting to the object. (Assumes the object is
|
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|
|
|
// used for UX or decorative elements like contact forces and labels.)
|
|
|
|
|
mjtByte decor_ux;
|
|
|
|
|
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|
|
// The texture containing the base color of the object.
|
|
|
|
|
const mjrTexture* color_texture;
|
|
|
|
|
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|
|
// The normal map of the object.
|
|
|
|
|
const mjrTexture* normal_texture;
|
|
|
|
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|
|
// The metallic map of the object.
|
|
|
|
|
const mjrTexture* metallic_texture;
|
|
|
|
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|
|
// The roughness map of the object.
|
|
|
|
|
const mjrTexture* roughness_texture;
|
|
|
|
|
|
|
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|
|
// The occlusion map of the object.
|
|
|
|
|
const mjrTexture* occlusion_texture;
|
|
|
|
|
|
|
|
|
|
// A texture containing the occlusion, roughness, and metallic maps packed
|
|
|
|
|
// into the R, G, B channels, respectively.
|
|
|
|
|
const mjrTexture* orm_texture;
|
|
|
|
|
|
|
|
|
|
// An emissive texture for the object.
|
|
|
|
|
const mjrTexture* emissive_texture;
|
|
|
|
|
|
|
|
|
|
// The reflection texture to use for the object. For internal use only.
|
|
|
|
|
const mjrTexture* reflection_texture;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Initializes the mjrMaterial to default values.
|
|
|
|
|
void mjr_defaultMaterial(mjrMaterial* material);
|
|
|
|
|
|
|
|
|
|
// The binary contents of a texture.
|
|
|
|
|
struct mjrTextureData {
|
|
|
|
|
// Pointer to the image data. If null, an empty texture will be created.
|
|
|
|
|
const void* bytes;
|
|
|
|
|
|
|
|
|
|
// The number of bytes in the image data.
|
|
|
|
|
mjtSize nbytes;
|
|
|
|
|
|
|
|
|
|
// Because rendering may be multithreaded, we cannot make assumptions about
|
|
|
|
|
// when the image data will finish uploading to the GPU. As such, we will use
|
|
|
|
|
// this callback to notify callers when it is safe to free the image data.
|
|
|
|
|
void (*release_callback)(void* user_data);
|
|
|
|
|
|
|
|
|
|
// User data to pass to the release callback.
|
|
|
|
|
void* user_data;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Initializes the mjrTextureData to default values.
|
|
|
|
|
void mjr_defaultTextureData(mjrTextureData* data);
|
|
|
|
|
|
|
|
|
|
// Defines the basic properties of a texture.
|
|
|
|
|
struct mjrTextureConfig {
|
|
|
|
|
// The width of the texture. For compressed textures (e.g. KTX), this is the
|
|
|
|
|
// number of bytes in the compressed data.
|
|
|
|
|
int width;
|
|
|
|
|
|
|
|
|
|
// The height of the texture. For compressed textures (e.g. KTX), this should
|
|
|
|
|
// be 0.
|
|
|
|
|
int height;
|
|
|
|
|
|
|
|
|
|
// The target of the texture (e.g. 2D, cube, etc.)
|
|
|
|
|
mjrSamplerType sampler_type;
|
|
|
|
|
|
|
|
|
|
// The format of the pixels in the texture (e.g. RGB8, RGBA8, KTX, etc.)
|
|
|
|
|
mjrPixelFormat format;
|
|
|
|
|
|
|
|
|
|
// The color space of the texture (e.g. LINEAR, sRGB, etc.)
|
|
|
|
|
mjrColorSpace color_space;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Initializes the mjrTextureConfig to default values.
|
|
|
|
|
void mjr_defaultTextureConfig(mjrTextureConfig* config);
|
|
|
|
|
|
|
|
|
|
// Configuration parameters for a Renderable.
|
|
|
|
|
struct mjrRenderableParams {
|
|
|
|
|
// Whether or not the Renderable casts shadows.
|
|
|
|
|
mjtByte cast_shadows;
|
|
|
|
|
// Whether or not the Renderable receives shadows.
|
|
|
|
|
mjtByte receive_shadows;
|
|
|
|
|
// The layers to which the Renderable belongs. This mask is used in
|
|
|
|
|
// conjunction with the layer mask in the Scene to determine which
|
|
|
|
|
// Renderables to render. Defaults to 0xff.
|
|
|
|
|
uint8_t layer_mask;
|
|
|
|
|
// Controls the order in which the Renderable is drawn relative to other
|
|
|
|
|
// Renderables; defaults to 4.
|
|
|
|
|
uint8_t priority;
|
|
|
|
|
// Similar to priority, but provides finer-grained control for Renderables
|
|
|
|
|
// with transparency; defaults to 0.
|
|
|
|
|
uint16_t blend_order;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Initializes the mjrRenderableParams to default values.
|
|
|
|
|
void mjr_defaultRenderableParams(mjrRenderableParams* params);
|
|
|
|
|
// The type of primitive to be drawn by vertex data.
|
|
|
|
|
typedef enum mjrMeshPrimitiveType_ {
|
|
|
|
|
mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0,
|
|
|
|
|
mjMESH_PRIMITIVE_TYPE_LINES,
|
|
|
|
|
} mjrMeshPrimitiveType;
|
|
|
|
|
|
|
|
|
|
// Information about a single attribute of a vertex.
|
|
|
|
|
struct mjrVertexAttribute {
|
|
|
|
@@ -317,17 +432,33 @@ struct mjrMeshData {
|
|
|
|
|
// Initializes the mjrMeshData to default values.
|
|
|
|
|
void mjr_defaultMeshData(mjrMeshData* data);
|
|
|
|
|
|
|
|
|
|
// Creates a mesh with the given data.
|
|
|
|
|
mjrMesh* mjrf_createMesh(mjrfContext* ctx, const mjrMeshData* data);
|
|
|
|
|
|
|
|
|
|
// Destroys the mesh.
|
|
|
|
|
void mjrf_destroyMesh(mjrMesh* mesh);
|
|
|
|
|
|
|
|
|
|
// ## Scenes (mjrScene)
|
|
|
|
|
//
|
|
|
|
|
// A scene is a collection of entities (Lights and Renderables) that defines
|
|
|
|
|
// what is to be rendered. It also specifies the various effects that are to be
|
|
|
|
|
// applied to the rendering (e.g. shadows, reflections, post-processing, etc.)
|
|
|
|
|
|
|
|
|
|
// Configuration parameters for a Scene.
|
|
|
|
|
struct mjrSceneParams {
|
|
|
|
|
// Whether or not to enable post processing; enabled by default.
|
|
|
|
|
mjtByte enable_post_processing;
|
|
|
|
|
|
|
|
|
|
// Whether or not to enable reflections; enabled by default.
|
|
|
|
|
mjtByte enable_reflections;
|
|
|
|
|
|
|
|
|
|
// Whether or not to enable shadows; enabled by default.
|
|
|
|
|
mjtByte enable_shadows;
|
|
|
|
|
|
|
|
|
|
// This mask, in conjunction with the layer mask in the Renderable, determines
|
|
|
|
|
// which Renderables to render within the Scene.
|
|
|
|
|
uint8_t layer_mask;
|
|
|
|
|
|
|
|
|
|
// The layer mask to use for reflections.
|
|
|
|
|
uint8_t reflection_layer_mask;
|
|
|
|
|
};
|
|
|
|
@@ -335,6 +466,59 @@ struct mjrSceneParams {
|
|
|
|
|
// Initializes the mjrSceneParams to default values.
|
|
|
|
|
void mjr_defaultSceneParams(mjrSceneParams* params);
|
|
|
|
|
|
|
|
|
|
// Creates a scene with the given parameters.
|
|
|
|
|
mjrScene* mjrf_createScene(mjrfContext* ctx, const mjrSceneParams* params);
|
|
|
|
|
|
|
|
|
|
// Destroys the scene.
|
|
|
|
|
void mjrf_destroyScene(mjrScene* scene);
|
|
|
|
|
|
|
|
|
|
// Adds a light to the scene.
|
|
|
|
|
void mjrf_addLightToScene(mjrScene* scene, mjrLight* light);
|
|
|
|
|
|
|
|
|
|
// Removes the light from the scene.
|
|
|
|
|
void mjrf_removeLightFromScene(mjrScene* scene, mjrLight* light);
|
|
|
|
|
|
|
|
|
|
// Adds a renderable to the scene.
|
|
|
|
|
void mjrf_addRenderableToScene(mjrScene* scene, mjrRenderable* renderable);
|
|
|
|
|
|
|
|
|
|
// Removes the renderable from the scene.
|
|
|
|
|
void mjrf_removeRenderableFromScene(mjrScene* scene, mjrRenderable* renderable);
|
|
|
|
|
|
|
|
|
|
// Sets the skybox (cube texture) for the scene.
|
|
|
|
|
void mjrf_setSceneSkybox(mjrScene* scene, const mjrTexture* texture);
|
|
|
|
|
|
|
|
|
|
// Enables (or disables) shadows in the scene.
|
|
|
|
|
void mjrf_setSceneShadowsEnabled(mjrScene* scene, mjtByte enabled);
|
|
|
|
|
|
|
|
|
|
// Enables (or disables) reflections in the scene.
|
|
|
|
|
void mjrf_setSceneReflectionsEnabled(mjrScene* scene, mjtByte enabled);
|
|
|
|
|
|
|
|
|
|
// Configures the scene based on the parameters in an mjModel.
|
|
|
|
|
void mjrf_configureSceneFromModel(mjrScene* scene, const mjModel* model);
|
|
|
|
|
|
|
|
|
|
// ## Lights (mjrLight)
|
|
|
|
|
//
|
|
|
|
|
// A light is a source of illumination in the scene. (Without lights, a scene
|
|
|
|
|
// will be completely black.) There are several different types of lights such
|
|
|
|
|
// as directional, spot, point, and image lights.
|
|
|
|
|
//
|
|
|
|
|
// The primary light in a scene is the image light (also sometimes known as the
|
|
|
|
|
// environment light). This is a light that "surrounds" the entire scene and
|
|
|
|
|
// is defined as a 3D texture. Each "pixel" of the cubemap is interpreted as the
|
|
|
|
|
// color of projected into the scene from a particular direction.
|
|
|
|
|
//
|
|
|
|
|
// Directional lights are the next most common type of light and is usually
|
|
|
|
|
// used to simulate the sun; a uniformly colored light that is emitted in a
|
|
|
|
|
// single direction.
|
|
|
|
|
//
|
|
|
|
|
// Filament only supports a single image and directional light. You can define
|
|
|
|
|
// as many point or spot lights as you want. Each light source (except image
|
|
|
|
|
// based lights) may or may not cast shadows. Each shadow-casting light incurs a
|
|
|
|
|
// performance cost.
|
|
|
|
|
|
|
|
|
|
// The type of light (spot, directional, image, etc.).
|
|
|
|
|
typedef mjtLightType mjrLightType;
|
|
|
|
|
|
|
|
|
|
// Configuration parameters for a light.
|
|
|
|
|
struct mjrLightParams {
|
|
|
|
|
// The type of light (e.g. spot, point, directional, etc.)
|
|
|
|
@@ -362,152 +546,14 @@ struct mjrLightParams {
|
|
|
|
|
// Initializes the mjrLightParams to default values.
|
|
|
|
|
void mjr_defaultLightParams(mjrLightParams* params);
|
|
|
|
|
|
|
|
|
|
// Defines the basic properties of a render target.
|
|
|
|
|
struct mjrRenderTargetConfig {
|
|
|
|
|
// The width of the render target.
|
|
|
|
|
int width;
|
|
|
|
|
// The height of the render target.
|
|
|
|
|
int height;
|
|
|
|
|
// The format of the color buffer in the render target.
|
|
|
|
|
mjrPixelFormat color_format;
|
|
|
|
|
// The format of the depth buffer in the render target.
|
|
|
|
|
mjrPixelFormat depth_format;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Initializes the RenderTargetConfig to default values.
|
|
|
|
|
void mjr_defaultRenderTargetConfig(mjrRenderTargetConfig* config);
|
|
|
|
|
|
|
|
|
|
// Information needed to render a single image of a scene.
|
|
|
|
|
struct mjrRenderRequest {
|
|
|
|
|
// The scene to render.
|
|
|
|
|
mjrScene* scene;
|
|
|
|
|
|
|
|
|
|
// The method (e.g. Color, Depth, Segmentation, etc.) to use for rendering.
|
|
|
|
|
mjrDrawMode draw_mode;
|
|
|
|
|
|
|
|
|
|
// The camera from which to render the scene.
|
|
|
|
|
mjrCamera camera;
|
|
|
|
|
|
|
|
|
|
// The viewport into which to render the image.
|
|
|
|
|
mjrRect viewport;
|
|
|
|
|
|
|
|
|
|
// The render target into which to render the image. If nullptr, the image
|
|
|
|
|
// will be rendered to the window (as previously configured in
|
|
|
|
|
// mjrFilamentConfig::native_window).
|
|
|
|
|
mjrRenderTarget* target;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Initializes the mjrRenderRequest to default values.
|
|
|
|
|
void mjr_defaultRenderRequest(mjrRenderRequest* request);
|
|
|
|
|
|
|
|
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// Information needed to read pixels from a render target.
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|
struct mjrReadPixelsRequest {
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|
mjrRenderTarget* target;
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// The buffer into which the read pixels will be written.
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void* output;
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// The number of bytes in the output buffer. This should match the size of
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// the render target texture.
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mjtSize num_bytes;
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// Callback when the read pixels operation is complete. This will be called
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|
// during WaitForFrame() or in a subsequent call to Render(). This function
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// can optionally be used to free the output buffer if needed.
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void (*read_completed_callback)(void* user_data);
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// User data to pass to the completion callback.
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|
void* user_data;
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|
};
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// Initializes the mjrReadPixelsRequest to default values.
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void mjr_defaultReadPixelsRequest(mjrReadPixelsRequest* request);
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// Information about a single frame of rendering.
|
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|
struct mjrFrameStats {
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// The frame rate of the renderer, in frames per second.
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|
double frame_rate;
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|
};
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// Initializes the mjrFrameStats to default values.
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void mjr_defaultFrameStats(mjrFrameStats* stats);
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// Configuration parameters for the filament rendering context.
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struct mjrFilamentConfig {
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// The native window handle into which we can render directly.
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void* native_window;
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// The initial width and height of the offscreen framebuffer.
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int width;
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int height;
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// The backend graphics API to use.
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int graphics_api;
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// Use software rendering even if the platform supports hardware rendering.
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|
|
bool force_software_rendering;
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|
};
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|
// Initializes the mjrFilamentConfig to default values.
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|
|
void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
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// Creates a filament rendering context.
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mjrfContext* mjrf_createContext(const mjrFilamentConfig* config);
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// Destroys the filament rendering context.
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|
void mjrf_destroyContext(mjrfContext* ctx);
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|
// Creates a texture for the filament renderer.
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|
|
mjrTexture* mjrf_createTexture(mjrfContext* ctx, const mjrTextureConfig* cfg);
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// Destroys the texture.
|
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|
|
void mjrf_destroyTexture(mjrTexture* texture);
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// Creates a mesh for the filament renderer.
|
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|
|
mjrMesh* mjrf_createMesh(mjrfContext* ctx, const mjrMeshData* data);
|
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|
// Destroys the mesh.
|
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|
|
void mjrf_destroyMesh(mjrMesh* mesh);
|
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|
|
// Creates a scene for the filament renderer.
|
|
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|
|
mjrScene* mjrf_createScene(mjrfContext* ctx, const mjrSceneParams* params);
|
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|
|
// Destroys the scene.
|
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|
|
void mjrf_destroyScene(mjrScene* scene);
|
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|
|
// Creates a light for the filament renderer.
|
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|
|
mjrLight* mjrf_createLight(mjrfContext* ctx, const mjrLightParams* params);
|
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|
// Destroys the light.
|
|
|
|
|
void mjrf_destroyLight(mjrLight* light);
|
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|
|
// Creates a renderable for the filament renderer.
|
|
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|
|
mjrRenderable* mjrf_createRenderable(mjrfContext* ctx, const mjrRenderableParams* params);
|
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|
|
// Destroys the renderable.
|
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|
|
|
void mjrf_destroyRenderable(mjrRenderable* renderable);
|
|
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|
|
// Creates a render target for the filament renderer.
|
|
|
|
|
mjrRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx,
|
|
|
|
|
const mjrRenderTargetConfig* config);
|
|
|
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|
|
// Destroys the render target.
|
|
|
|
|
void mjrf_destroyRenderTarget(mjrRenderTarget* render_target);
|
|
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|
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|
|
// Uploads the given texture data to the texture.
|
|
|
|
|
void mjrf_setTextureData(mjrTexture* texture, const mjrTextureData* data);
|
|
|
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|
|
// Returns the width of the texture.
|
|
|
|
|
int mjrf_getTextureWidth(const mjrTexture* texture);
|
|
|
|
|
|
|
|
|
|
// Returns the height of the texture.
|
|
|
|
|
int mjrf_getTextureHeight(const mjrTexture* texture);
|
|
|
|
|
|
|
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|
|
// Returns the sampler type of the texture.
|
|
|
|
|
mjrSamplerType mjrf_getSamplerType(const mjrTexture* texture);
|
|
|
|
|
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|
|
// Enables or disables the light.
|
|
|
|
|
void mjrf_setLightEnabled(mjrLight* light, bool enabled);
|
|
|
|
|
void mjrf_setLightEnabled(mjrLight* light, mjtByte enabled);
|
|
|
|
|
|
|
|
|
|
// Sets the intensity of the light, in candela.
|
|
|
|
|
void mjrf_setLightIntensity(mjrLight* light, float intensity);
|
|
|
|
@@ -522,6 +568,120 @@ void mjrf_setLightTransform(mjrLight* light, const float position[3],
|
|
|
|
|
// Returns the type of the light.
|
|
|
|
|
mjrLightType mjrf_getLightType(const mjrLight* light);
|
|
|
|
|
|
|
|
|
|
// ## Renderables (mjrRenderable)
|
|
|
|
|
//
|
|
|
|
|
// A renderable is a single drawable object in the scene. It is defined as a
|
|
|
|
|
// combination of a mesh (i.e. surface geometry) and a material (i.e. surface
|
|
|
|
|
// appearance and properties).
|
|
|
|
|
//
|
|
|
|
|
// In terms of materials, there are three lighting models currently supported:
|
|
|
|
|
//
|
|
|
|
|
// 1. Metallic-roughness (PBR): this is the preferred model for rendering
|
|
|
|
|
// models based standard metallic-roughness workflows.
|
|
|
|
|
// 2. Specular-glossiness (non-PBR): this is a legacy model designed to be
|
|
|
|
|
// compatible with classic mjr renderer, though it is not 100% identical.
|
|
|
|
|
// 3. Unlit: this model ignores lighting and used for rendering UX or decorative
|
|
|
|
|
// elements like contact forces and labels.
|
|
|
|
|
//
|
|
|
|
|
// Which lighting model is used is determined by the mjrMaterial properties.
|
|
|
|
|
|
|
|
|
|
// The material to be applied to a renderable.
|
|
|
|
|
struct mjrMaterial {
|
|
|
|
|
// The color of the object. Defaults to white.
|
|
|
|
|
float color[4];
|
|
|
|
|
|
|
|
|
|
// The color to use for segmentation rendering. Defaults to white.
|
|
|
|
|
float segmentation_color[4];
|
|
|
|
|
|
|
|
|
|
// Applies an addition scale to the UV coordinates of the object. Defaults to
|
|
|
|
|
// (1, 1, 1).
|
|
|
|
|
float uv_scale[3];
|
|
|
|
|
|
|
|
|
|
// Applies an offset to the UV coordinates of the object. Defaults to (0, 0,
|
|
|
|
|
// 0).
|
|
|
|
|
float uv_offset[3];
|
|
|
|
|
|
|
|
|
|
// Applies a scissor test to the object.
|
|
|
|
|
float scissor[4];
|
|
|
|
|
|
|
|
|
|
// Factors for PBR metallic-roughness materials.
|
|
|
|
|
float metallic;
|
|
|
|
|
float roughness;
|
|
|
|
|
|
|
|
|
|
// Factors for (non-PBR) specular-glossiness materials.
|
|
|
|
|
float specular;
|
|
|
|
|
float glossiness;
|
|
|
|
|
|
|
|
|
|
// The emissive (glow) factor of the object.
|
|
|
|
|
float emissive;
|
|
|
|
|
|
|
|
|
|
// Whether or not the object is a reflective surface. Only applies to planes.
|
|
|
|
|
mjtByte reflective;
|
|
|
|
|
// The blend factor to use for reflective surfaces. A value of 1.0 means that
|
|
|
|
|
// the surface is fully reflective (i.e. a mirror).
|
|
|
|
|
float reflectance;
|
|
|
|
|
|
|
|
|
|
// If true, does not apply any lighting to the object. Assumes the object is
|
|
|
|
|
// used for UX or decorative elements like contact forces and labels.
|
|
|
|
|
mjtByte decor_ux;
|
|
|
|
|
|
|
|
|
|
// The texture containing the base color of the object.
|
|
|
|
|
const mjrTexture* color_texture;
|
|
|
|
|
|
|
|
|
|
// The normal map of the object.
|
|
|
|
|
const mjrTexture* normal_texture;
|
|
|
|
|
|
|
|
|
|
// The metallic map of the object.
|
|
|
|
|
const mjrTexture* metallic_texture;
|
|
|
|
|
|
|
|
|
|
// The roughness map of the object.
|
|
|
|
|
const mjrTexture* roughness_texture;
|
|
|
|
|
|
|
|
|
|
// The occlusion map of the object.
|
|
|
|
|
const mjrTexture* occlusion_texture;
|
|
|
|
|
|
|
|
|
|
// A texture containing the occlusion, roughness, and metallic maps packed
|
|
|
|
|
// into the R, G, B channels, respectively.
|
|
|
|
|
const mjrTexture* orm_texture;
|
|
|
|
|
|
|
|
|
|
// An emissive texture for the object.
|
|
|
|
|
const mjrTexture* emissive_texture;
|
|
|
|
|
|
|
|
|
|
// The reflection texture to use for the object. For internal use only.
|
|
|
|
|
const mjrTexture* reflection_texture;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Initializes the mjrMaterial to default values.
|
|
|
|
|
void mjr_defaultMaterial(mjrMaterial* material);
|
|
|
|
|
|
|
|
|
|
// Configuration parameters for a Renderable.
|
|
|
|
|
struct mjrRenderableParams {
|
|
|
|
|
// Whether or not the Renderable casts shadows.
|
|
|
|
|
mjtByte cast_shadows;
|
|
|
|
|
// Whether or not the Renderable receives shadows.
|
|
|
|
|
mjtByte receive_shadows;
|
|
|
|
|
// The layers to which the Renderable belongs. This mask is used in
|
|
|
|
|
// conjunction with the layer mask in the Scene to determine which
|
|
|
|
|
// Renderables to render. Defaults to 0xff.
|
|
|
|
|
uint8_t layer_mask;
|
|
|
|
|
// Controls the order in which the Renderable is drawn relative to other
|
|
|
|
|
// Renderables; defaults to 4.
|
|
|
|
|
uint8_t priority;
|
|
|
|
|
// Similar to priority, but provides finer-grained control for Renderables
|
|
|
|
|
// with transparency; defaults to 0.
|
|
|
|
|
uint16_t blend_order;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Initializes the mjrRenderableParams to default values.
|
|
|
|
|
void mjr_defaultRenderableParams(mjrRenderableParams* params);
|
|
|
|
|
|
|
|
|
|
// Creates a renderable with the given parameters.
|
|
|
|
|
mjrRenderable* mjrf_createRenderable(mjrfContext* ctx,
|
|
|
|
|
const mjrRenderableParams* params);
|
|
|
|
|
|
|
|
|
|
// Destroys the renderable.
|
|
|
|
|
void mjrf_destroyRenderable(mjrRenderable* renderable);
|
|
|
|
|
|
|
|
|
|
// Sets the mesh of the renderable.
|
|
|
|
|
void mjrf_setRenderableMesh(mjrRenderable* renderable, const mjrMesh* mesh,
|
|
|
|
|
int elem_offset, int elem_count);
|
|
|
|
@@ -536,66 +696,61 @@ void mjrf_setRenderableGeomMesh(mjrRenderable* renderable, mjtGeom type,
|
|
|
|
|
void mjrf_setRenderableMaterial(mjrRenderable* renderable,
|
|
|
|
|
const mjrMaterial* material);
|
|
|
|
|
|
|
|
|
|
// Sets the transform (position, rotation, and size) of the renderable.
|
|
|
|
|
// Sets the transform (position, rotation, and size) of the renderable. Note
|
|
|
|
|
// that `size` is not the same as `scale`. For example, the z-size of a capsule
|
|
|
|
|
// only scales the tubular-portion of its geometry, but not the spherical caps.
|
|
|
|
|
void mjrf_setRenderableTransform(mjrRenderable* renderable,
|
|
|
|
|
const float position[3],
|
|
|
|
|
const float rotation[9], const float size[3]);
|
|
|
|
|
|
|
|
|
|
// Sets whether the renderable casts shadows or not.
|
|
|
|
|
void mjrf_setRenderableCastShadows(mjrRenderable* renderable,
|
|
|
|
|
bool cast_shadows);
|
|
|
|
|
mjtByte cast_shadows);
|
|
|
|
|
|
|
|
|
|
// Sets whether the renderable receives shadows or not.
|
|
|
|
|
void mjrf_setRenderableReceiveShadows(mjrRenderable* renderable,
|
|
|
|
|
bool receive_shadows);
|
|
|
|
|
mjtByte receive_shadows);
|
|
|
|
|
|
|
|
|
|
// Forces the renderable to be rendered using lines.
|
|
|
|
|
void mjrf_setRenderableWireframe(mjrRenderable* renderable, bool wireframe);
|
|
|
|
|
void mjrf_setRenderableWireframe(mjrRenderable* renderable, mjtByte wireframe);
|
|
|
|
|
|
|
|
|
|
// Sets the layer mask of the renderable. See mjrRenderableParams for details.
|
|
|
|
|
void mjrf_setRenderableLayerMask(mjrRenderable* renderable, uint8_t layer_mask);
|
|
|
|
|
|
|
|
|
|
// Adds the light to the scene.
|
|
|
|
|
void mjrf_addLightToScene(mjrScene* scene, mjrLight* light);
|
|
|
|
|
// ## Render Targets (mjrRenderTarget)
|
|
|
|
|
//
|
|
|
|
|
// A render target is a memory buffer that holds the results of a rendering
|
|
|
|
|
// operation. (This is an alternative to rendering directly to the screen.)
|
|
|
|
|
// See mjrf_render for more details.
|
|
|
|
|
|
|
|
|
|
// Removes the light from the scene.
|
|
|
|
|
void mjrf_removeLightFromScene(mjrScene* scene, mjrLight* light);
|
|
|
|
|
// Defines the basic properties of a render target.
|
|
|
|
|
struct mjrRenderTargetConfig {
|
|
|
|
|
// The width of the render target.
|
|
|
|
|
int width;
|
|
|
|
|
// The height of the render target.
|
|
|
|
|
int height;
|
|
|
|
|
// The format of the color buffer in the render target.
|
|
|
|
|
mjrPixelFormat color_format;
|
|
|
|
|
// The format of the depth buffer in the render target.
|
|
|
|
|
mjrPixelFormat depth_format;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// Adds the renderable to the scene.
|
|
|
|
|
void mjrf_addRenderableToScene(mjrScene* scene, mjrRenderable* renderable);
|
|
|
|
|
// Initializes the RenderTargetConfig to default values.
|
|
|
|
|
void mjr_defaultRenderTargetConfig(mjrRenderTargetConfig* config);
|
|
|
|
|
|
|
|
|
|
// Removes the renderable from the scene.
|
|
|
|
|
void mjrf_removeRenderableFromScene(mjrScene* scene, mjrRenderable* renderable);
|
|
|
|
|
// Creates a render target for the filament renderer.
|
|
|
|
|
mjrRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx,
|
|
|
|
|
const mjrRenderTargetConfig* config);
|
|
|
|
|
|
|
|
|
|
// Sets the skybox texture of the scene.
|
|
|
|
|
void mjrf_setSceneSkybox(mjrScene* scene, const mjrTexture* texture);
|
|
|
|
|
// Destroys the render target.
|
|
|
|
|
void mjrf_destroyRenderTarget(mjrRenderTarget* render_target);
|
|
|
|
|
|
|
|
|
|
// Enables (or disables) shadows in the scene..
|
|
|
|
|
void mjrf_setSceneShadowsEnabled(mjrScene* scene, bool enabled);
|
|
|
|
|
|
|
|
|
|
// Enables (or disables) reflections in the scene.
|
|
|
|
|
void mjrf_setSceneReflectionsEnabled(mjrScene* scene, bool enabled);
|
|
|
|
|
|
|
|
|
|
// Configures the scene based on the parameters in the model.
|
|
|
|
|
void mjrf_configureSceneFromModel(mjrScene* scene, const mjModel* model);
|
|
|
|
|
|
|
|
|
|
// Submits the given requests for rendering.
|
|
|
|
|
mjrFrameHandle mjrf_render(mjrfContext* ctx, const mjrRenderRequest* req,
|
|
|
|
|
int nreq, const mjrReadPixelsRequest* read_req,
|
|
|
|
|
int nread_req);
|
|
|
|
|
|
|
|
|
|
// Waits for the rendering to complete for the given frame handle.
|
|
|
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void mjrf_waitForFrame(mjrfContext* ctx, mjrFrameHandle frame);
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// Returns the stats for the given frame but updating the given `stats_out`.
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void mjrf_getFrameStats(mjrfContext* ctx, mjrFrameHandle frame,
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mjrFrameStats* stats_out);
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// ## Debug-only functions.
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// Draws an ImGui editor for the given scene, exposing filament-specific
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// settings.
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void mjrf_DEBUG_drawImguiEditor(mjrScene* scene);
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// Legacy API, to be deprecated.
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void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
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Haroon Qureshi