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Remove dependency between SceneBridge and ObjectManager.

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PiperOrigin-RevId: 911824153
Change-Id: Ie87d6d9e77b0b3f68a41a0c7d13a36fb2029e4c2
This commit is contained in:
Haroon Qureshi
2026-05-07 01:55:11 -07:00
committed by Copybara-Service
parent 8e214e5133
commit 607970a900
4 changed files with 52 additions and 77 deletions
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src/experimental/filament/compat/scene_bridge.cc
+16 -9
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@@ -16,6 +16,7 @@
#include <memory>
#include <optional>
#include <string>
#include <string_view>
#include <utility>
@@ -28,8 +29,6 @@
#include <mujoco/mujoco.h>
#include "experimental/filament/compat/model_objects.h"
#include "experimental/filament/compat/scene_geom_util.h"
#include "experimental/filament/filament/filament_context.h"
#include "experimental/filament/filament/object_manager.h"
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/filament/model_util.h"
#include "experimental/filament/render_context_filament.h"
@@ -44,9 +43,17 @@ using filament::math::mat4;
static UniquePtr<mjrTexture> CreateFallbackIndirectLightTexture(
mjrfContext* ctx) {
std::unique_ptr<ObjectManager::Asset> asset =
FilamentContext::downcast(ctx)->GetObjectManager()->LoadAsset(
ObjectManager::kDefaultEnvironmentLight);
const std::string filename = ResolveFilamentAssetPath("ibl.ktx");
mjResource* resource =
mju_openResource("", filename.c_str(), nullptr, nullptr, 0);
if (!resource) {
mju_error("Failed to open resource: %s", filename.c_str());
}
const void* bytes = nullptr;
const int nbytes = mju_readResource(resource, &bytes);
if (bytes == nullptr || nbytes <= 0) {
mju_error("Failed to read resource: %s", filename.c_str());
}
mjrTextureConfig config;
mjr_defaultTextureConfig(&config);
@@ -60,12 +67,12 @@ static UniquePtr<mjrTexture> CreateFallbackIndirectLightTexture(
mjrTextureData payload;
mjr_defaultTextureData(&payload);
payload.bytes = asset->GetBytes().data();
payload.nbytes = asset->GetBytes().size();
payload.bytes = bytes;
payload.nbytes = nbytes;
payload.release_callback = +[](void* user_data) {
delete static_cast<ObjectManager::Asset*>(user_data);
mju_closeResource((mjResource*)user_data);
};
payload.user_data = asset.release();
payload.user_data = resource;
mjrf_setTextureData(texture.get(), &payload);
return texture;
src/experimental/filament/filament/object_manager.cc
+33 -48
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@@ -33,55 +33,45 @@
namespace mujoco {
static std::string GetAssetPath(std::string_view filename) {
std::string path = "filament:" + std::string(filename);
std::string ResolveFilamentAssetPath(const std::string& filename) {
std::string path = "filament:" + filename;
return path;
}
ObjectManager::Asset::Asset(std::string_view filename) {
std::string path = GetAssetPath(filename);
resource = mju_openResource("", path.c_str(), nullptr, nullptr, 0);
size = mju_readResource(resource, const_cast<const void**>(&payload));
}
ObjectManager::Asset::~Asset() {
if (resource) {
mju_closeResource(resource);
}
}
std::span<const std::byte> ObjectManager::Asset::GetBytes() const {
return {reinterpret_cast<const std::byte*>(payload), size};
}
static filament::Material* LoadMaterial(filament::Engine* engine,
std::string_view filename) {
const std::string path = ResolveFilamentAssetPath(std::string(filename));
mjResource* resource = mju_openResource("", path.c_str(), nullptr, nullptr, 0);
void* payload = nullptr;
int size = mju_readResource(resource, const_cast<const void**>(&payload));
filament::Material::Builder material_builder;
material_builder.package(payload, size);
filament::Material* material = material_builder.build(*engine);
mju_closeResource(resource);
return material;
};
ObjectManager::ObjectManager(filament::Engine* engine)
: engine_(engine) {
auto LoadMaterial = [this](std::string_view filename) {
Asset asset(filename);
filament::Material::Builder material_builder;
material_builder.package(asset.payload, asset.size);
return material_builder.build(*this->engine_);
};
materials_[kPbr] = LoadMaterial("pbr.filamat");
materials_[kPbrPacked] = LoadMaterial("pbr_packed.filamat");
materials_[kPhong2d] = LoadMaterial("phong_2d.filamat");
materials_[kPhong2dFade] = LoadMaterial("phong_2d_fade.filamat");
materials_[kPhong2dReflect] = LoadMaterial("phong_2d_reflect.filamat");
materials_[kPhong2dUv] = LoadMaterial("phong_2d_uv.filamat");
materials_[kPhong2dUvFade] = LoadMaterial("phong_2d_uv_fade.filamat");
materials_[kPhong2dUvReflect] = LoadMaterial("phong_2d_uv_reflect.filamat");
materials_[kPhongColor] = LoadMaterial("phong_color.filamat");
materials_[kPhongColorFade] = LoadMaterial("phong_color_fade.filamat");
materials_[kPhongColorReflect] = LoadMaterial("phong_color_reflect.filamat");
materials_[kPhongCube] = LoadMaterial("phong_cube.filamat");
materials_[kPhongCubeFade] = LoadMaterial("phong_cube_fade.filamat");
materials_[kPhongCubeReflect] = LoadMaterial("phong_cube_reflect.filamat");
materials_[kUnlitSegmentation] = LoadMaterial("unlit_segmentation.filamat");
materials_[kUnlitLine] = LoadMaterial("unlit_line.filamat");
materials_[kUnlitDecor] = LoadMaterial("unlit_decor.filamat");
materials_[kUnlitDepth] = LoadMaterial("unlit_depth.filamat");
materials_[kUnlitUi] = LoadMaterial("unlit_ui.filamat");
materials_[kPbr] = LoadMaterial(engine, "pbr.filamat");
materials_[kPbrPacked] = LoadMaterial(engine, "pbr_packed.filamat");
materials_[kPhong2d] = LoadMaterial(engine, "phong_2d.filamat");
materials_[kPhong2dFade] = LoadMaterial(engine, "phong_2d_fade.filamat");
materials_[kPhong2dReflect] = LoadMaterial(engine, "phong_2d_reflect.filamat");
materials_[kPhong2dUv] = LoadMaterial(engine, "phong_2d_uv.filamat");
materials_[kPhong2dUvFade] = LoadMaterial(engine, "phong_2d_uv_fade.filamat");
materials_[kPhong2dUvReflect] = LoadMaterial(engine, "phong_2d_uv_reflect.filamat");
materials_[kPhongColor] = LoadMaterial(engine, "phong_color.filamat");
materials_[kPhongColorFade] = LoadMaterial(engine, "phong_color_fade.filamat");
materials_[kPhongColorReflect] = LoadMaterial(engine, "phong_color_reflect.filamat");
materials_[kPhongCube] = LoadMaterial(engine, "phong_cube.filamat");
materials_[kPhongCubeFade] = LoadMaterial(engine, "phong_cube_fade.filamat");
materials_[kPhongCubeReflect] = LoadMaterial(engine, "phong_cube_reflect.filamat");
materials_[kUnlitSegmentation] = LoadMaterial(engine, "unlit_segmentation.filamat");
materials_[kUnlitLine] = LoadMaterial(engine, "unlit_line.filamat");
materials_[kUnlitDecor] = LoadMaterial(engine, "unlit_decor.filamat");
materials_[kUnlitDepth] = LoadMaterial(engine, "unlit_depth.filamat");
materials_[kUnlitUi] = LoadMaterial(engine, "unlit_ui.filamat");
static uint8_t black_rgb[3] = {0, 0, 0};
static uint8_t white_rgb[3] = {255, 255, 255};
@@ -156,9 +146,4 @@ const filament::Texture* ObjectManager::GetFallbackTexture(
}
return fallback_textures_[role];
}
std::unique_ptr<ObjectManager::Asset> ObjectManager::LoadAsset(
std::string_view filename) {
return std::unique_ptr<Asset>(new Asset(filename));
}
} // namespace mujoco
src/experimental/filament/filament/object_manager.h
-20
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@@ -35,23 +35,6 @@ namespace mujoco {
// Creates and owns various filament objects based on the data in a mjrContext.
class ObjectManager {
public:
class Asset {
public:
~Asset();
std::span<const std::byte> GetBytes() const;
Asset(const Asset&) = delete;
Asset& operator=(const Asset&) = delete;
private:
friend class ObjectManager;
explicit Asset(std::string_view filename);
std::size_t size = 0;
void* payload = nullptr;
mjResource* resource = nullptr;
};
ObjectManager(filament::Engine* engine);
~ObjectManager();
@@ -90,9 +73,6 @@ class ObjectManager {
// Returns the built-in mesh collection with the given parameters.
Builtins* GetBuiltins(int nstack, int nslice, int nquad);
// Loads the given asset from the filament resource directory.
std::unique_ptr<Asset> LoadAsset(std::string_view filename);
// The default environment light to use if no environment light is specified.
static constexpr const char* kDefaultEnvironmentLight = "ibl.ktx";
src/experimental/filament/render_context_filament_cpp.h
+3
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@@ -16,6 +16,7 @@
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_CPP_H_
#include <memory>
#include <string>
#include "experimental/filament/render_context_filament.h"
@@ -66,6 +67,8 @@ inline UniquePtr<mjrRenderTarget> CreateRenderTarget(
return UniquePtr<mjrRenderTarget>(render_target, mjrf_destroyRenderTarget);
}
std::string ResolveFilamentAssetPath(const std::string& filename);
} // namespace mujoco
#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_CPP_H_