chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Properly handle PBR materials where no color texture is provided.

Browse Source 
In this case, we'll use the mujoco material color which is then multiplied with a white fallback texture.

PiperOrigin-RevId: 840244521
Change-Id: I2134f45dcbaed7db268e5278ca8ac5429488943d
This commit is contained in:
Haroon Qureshi
2025-12-04 07:56:20 -08:00
committed by Copybara-Service
parent 680e9a6b79
commit 5f59104877
2 changed files with 40 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/filament/filament/drawable.cc
+38 -32
View File
@@ -342,7 +342,9 @@ void Drawable::UpdateMaterial(const mjvGeom& geom) {
if (geom.type == mjGEOM_LINE || geom.type == mjGEOM_LINEBOX) {
material_.SetNormalMaterialType(ObjectManager::kUnlitLine);
} else {
bool material_assigned = false;
if (geom.matid >= 0) {
material_assigned = true;
if (textures.orm) {
material_.SetNormalMaterialType(ObjectManager::kPbrPacked);
} else if (textures.metallic) {
@@ -353,43 +355,47 @@ void Drawable::UpdateMaterial(const mjvGeom& geom) {
material_.SetNormalMaterialType(ObjectManager::kPbr);
} else if (model->mat_roughness[geom.matid] >= 0) {
material_.SetNormalMaterialType(ObjectManager::kPbr);
} else {
material_assigned = false;
}
}
// Check to see if we're dealing with a mesh with texture coordinates.
// `data_id` is the id of the mesh in model (i.e. the geom has mesh
// geometry) and `mesh_texcoordadr` stores the address of the mesh uvs if it
// has them.
bool has_texcoords = false;
if ((geom.type == mjGEOM_MESH || geom.type == mjGEOM_SDF) &&
geom.dataid >= 0 && model->mesh_texcoordadr[geom.dataid / 2] >= 0) {
has_texcoords = true;
}
if (!material_assigned) {
// Check to see if we're dealing with a mesh with texture coordinates.
// `data_id` is the id of the mesh in model (i.e. the geom has mesh
// geometry) and `mesh_texcoordadr` stores the address of the mesh uvs if
// it has them.
bool has_texcoords = false;
if ((geom.type == mjGEOM_MESH || geom.type == mjGEOM_SDF) &&
geom.dataid >= 0 && model->mesh_texcoordadr[geom.dataid / 2] >= 0) {
has_texcoords = true;
}
if (textures.color == nullptr) {
if (geom.rgba[3] < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhongColorFade);
if (textures.color == nullptr) {
if (geom.rgba[3] < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhongColorFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhongColor);
}
} else if (textures.color->getTarget() ==
filament::Texture::Sampler::SAMPLER_CUBEMAP) {
if (geom.rgba[3] < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhongCubeFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhongCube);
}
} else if (has_texcoords) {
if (geom.rgba[3] < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUvFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUv);
}
} else {
material_.SetNormalMaterialType(ObjectManager::kPhongColor);
}
} else if (textures.color->getTarget() ==
filament::Texture::Sampler::SAMPLER_CUBEMAP) {
if (geom.rgba[3] < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhongCubeFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhongCube);
}
} else if (has_texcoords) {
if (geom.rgba[3] < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUvFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUv);
}
} else {
if (geom.rgba[3] < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhong2d);
if (geom.rgba[3] < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhong2d);
}
}
}
}
src/experimental/filament/filament/object_manager.cc
+2 -2
View File
@@ -121,8 +121,8 @@ ObjectManager::ObjectManager(const mjModel* model, filament::Engine* engine,
fallback_orm_ = Create2dTexture(engine_, 1, 1, 3, orm_data, false);
fallback_textures_[mjTEXROLE_USER] = fallback_black_;
fallback_textures_[mjTEXROLE_RGB] = fallback_black_;
fallback_textures_[mjTEXROLE_OCCLUSION] = fallback_black_;
fallback_textures_[mjTEXROLE_RGB] = fallback_white_;
fallback_textures_[mjTEXROLE_OCCLUSION] = fallback_white_;
fallback_textures_[mjTEXROLE_ROUGHNESS] = fallback_white_;
fallback_textures_[mjTEXROLE_METALLIC] = fallback_black_;
fallback_textures_[mjTEXROLE_NORMAL] = fallback_normal_;