Merge renderer+offscreen mode into unified graphics mode.
Allow Studio app to switch between graphics modes dynamically. PiperOrigin-RevId: 878396966 Change-Id: I666fe3d2452de5404b9be2bd1d017eabec789aef
This commit is contained in:
Haroon Qureshi
committed by
Copybara-Service
Copybara-Service
parent
8ab791fdf7
commit
73f73d94f7
@@ -14,35 +14,41 @@
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#include "experimental/platform/renderer.h"
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#include <chrono>
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#include <cstddef>
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#include <span>
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#include <mujoco/mujoco.h>
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#include "experimental/platform/renderer_backend.h"
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#if defined(MUJOCO_RENDERER_CLASSIC_OPENGL)
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#include <imgui.h>
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#include <backends/imgui_impl_opengl3.h>
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#ifndef __EMSCRIPTEN__
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#include "experimental/platform/egl_utils.h"
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#else
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#endif // __EMSCRIPTEN__
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#include "experimental/filament/render_context_filament.h"
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#include "experimental/platform/graphics_mode.h"
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#include "experimental/platform/plugin.h"
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#endif
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namespace mujoco::platform {
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Renderer::Renderer(void* native_window) : native_window_(native_window) {
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#ifdef MUJOCO_RENDERER_CLASSIC_OPENGL
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if (native_window == nullptr) {
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graphics_api_context_ = CreateEglContext();
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Renderer::Renderer(void* native_window, GraphicsMode gfx)
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: native_window_(native_window), gfx_(gfx) {
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if (IsClassic(gfx_)) {
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if (native_window == nullptr) {
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// graphics_api_context_ = CreateEglContext();
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}
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if (ImGui::GetCurrentContext()) {
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ImGui_ImplOpenGL3_Init();
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}
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}
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if (ImGui::GetCurrentContext()) {
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ImGui_ImplOpenGL3_Init();
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}
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#endif
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}
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Renderer::~Renderer() {
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if (IsClassic(gfx_)) {
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if (ImGui::GetCurrentContext()) {
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ImGui_ImplOpenGL3_Shutdown();
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}
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}
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Deinit();
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graphics_api_context_.reset();
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}
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@@ -50,24 +56,39 @@ Renderer::~Renderer() {
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void Renderer::Init(const mjModel* model) {
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Deinit();
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if (model) {
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mjr_defaultContext(&render_context_);
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#if defined(MUJOCO_RENDERER_CLASSIC_OPENGL)
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mjr_makeContext(model, &render_context_, mjFONTSCALE_150);
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#else
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mjrFilamentConfig render_config;
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mjrf_defaultFilamentConfig(&render_config);
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render_config.native_window = native_window_;
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render_config.enable_gui = true;
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#if defined(MUJOCO_RENDERER_FILAMENT_OPENGL)
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render_config.graphics_api = mjGFX_OPENGL;
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#elif defined(MUJOCO_RENDERER_FILAMENT_OPENGL_HEADLESS)
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render_config.graphics_api = mjGFX_OPENGL;
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#elif defined(MUJOCO_RENDERER_FILAMENT_VULKAN)
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render_config.graphics_api = mjGFX_VULKAN;
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#endif
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mjrf_makeFilamentContext(model, &render_context_, &render_config);
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#endif
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if (IsClassic(gfx_)) {
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mjr_defaultContext(&render_context_);
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mjr_makeContext(model, &render_context_, mjFONTSCALE_150);
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render_ = [&](mjrRect rect, mjvScene* scene) {
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mjr_render(rect, scene, &render_context_);
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};
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set_buffer_ = [&](int framebuffer) {
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mjr_setBuffer(framebuffer, &render_context_);
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};
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read_pixels_ = [&](unsigned char* pixels, mjrRect rect) {
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mjr_readPixels(pixels, nullptr, rect, &render_context_);
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mjr_setBuffer(mjFB_WINDOW, &render_context_);
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};
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} else {
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mjrf_defaultContext(&render_context_);
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mjrFilamentConfig render_config;
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mjrf_defaultFilamentConfig(&render_config);
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render_config.native_window = native_window_;
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render_config.enable_gui = true;
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render_config.graphics_api =
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IsOpenGl(gfx_) || IsWebGl(gfx_) ? mjGFX_OPENGL : mjGFX_VULKAN;
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mjrf_makeFilamentContext(model, &render_context_, &render_config);
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render_ = [&](mjrRect rect, mjvScene* scene) {
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mjrf_render(rect, scene, &render_context_);
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};
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set_buffer_ = [&](int framebuffer) {
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mjrf_setBuffer(framebuffer, &render_context_);
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};
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read_pixels_ = [&](unsigned char* pixels, mjrRect rect) {
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mjrf_readPixels(pixels, nullptr, rect, &render_context_);
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mjrf_setBuffer(mjFB_WINDOW, &render_context_);
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};
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}
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mjv_defaultScene(&scene_);
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mjv_makeScene(model, &scene_, 2000);
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@@ -78,7 +99,11 @@ void Renderer::Init(const mjModel* model) {
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void Renderer::Deinit() {
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if (initialized_) {
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mjv_freeScene(&scene_);
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mjr_freeContext(&render_context_);
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if (IsClassic(gfx_)) {
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mjr_freeContext(&render_context_);
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} else {
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mjrf_freeContext(&render_context_);
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}
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initialized_ = false;
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}
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}
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@@ -116,35 +141,30 @@ void Renderer::Render(const mjModel* model, mjData* data,
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mju_error("Offscreen mode requires a pixel buffer of size %d.",
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width * height * 3);
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}
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#ifdef MUJOCO_RENDERER_CLASSIC_OPENGL
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if (IsClassic(gfx_)) {
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mjr_resizeOffscreen(width, height, &render_context_);
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mjr_setBuffer(mjFB_OFFSCREEN, &render_context_);
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#else
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// The filament backend supports two offscreen framebuffers.
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// mjFB_OFFSCREEN renders just the mjvScene data. +1 also includes the
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// ImGui draw data.
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mjr_setBuffer(mjFB_OFFSCREEN + 1, &render_context_);
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#endif
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}
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// The filament backend supports two offscreen framebuffers.
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// mjFB_OFFSCREEN renders just the mjvScene data. +1 also includes the
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// ImGui draw data.
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set_buffer_(IsClassic(gfx_) ? mjFB_OFFSCREEN : mjFB_OFFSCREEN + 1);
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}
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const mjrRect viewport = {0, 0, width, height};
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mjr_render(viewport, &scene_, &render_context_);
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render_(viewport, &scene_);
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// The filament backend knows how to renders the ImGui draw data. For the
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// classic backend, we need to render the ImGui draw data ourselves.
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#ifdef MUJOCO_RENDERER_CLASSIC_OPENGL
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if (ImGui::GetCurrentContext()) {
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ImGui_ImplOpenGL3_NewFrame();
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ImGui::Render();
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ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
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}
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#endif
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if (IsClassic(gfx_) && ImGui::GetCurrentContext()) {
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ImGui_ImplOpenGL3_NewFrame();
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ImGui::Render();
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ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
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}
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if (render_to_texture) {
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unsigned char* ptr = reinterpret_cast<unsigned char*>(pixels.data());
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mjr_readPixels(ptr, nullptr, viewport, &render_context_);
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mjr_setBuffer(mjFB_WINDOW, &render_context_);
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read_pixels_(ptr, viewport);
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}
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UpdateFps();
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@@ -158,61 +178,44 @@ void Renderer::RenderToTexture(const mjModel* model, mjData* data,
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}
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const mjrRect viewport = {0, 0, width, height};
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mjr_setBuffer(mjFB_OFFSCREEN, &render_context_);
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mjv_updateCamera(model, data, camera, &scene_);
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mjr_render(viewport, &scene_, &render_context_);
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mjr_readPixels((unsigned char*)output, nullptr, viewport, &render_context_);
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mjr_setBuffer(mjFB_WINDOW, &render_context_);
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set_buffer_(mjFB_OFFSCREEN);
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render_(viewport, &scene_);
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read_pixels_((unsigned char*)output, viewport);
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}
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int Renderer::UploadImage(int texture_id, const std::byte* pixels, int width,
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int height, int bpp) {
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#if defined(MUJOCO_RENDERER_CLASSIC_OPENGL)
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return 0;
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#else
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return mjrf_uploadGuiImage(texture_id,
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reinterpret_cast<const unsigned char*>(pixels),
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width, height, bpp, &render_context_);
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#endif
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if (IsClassic(gfx_)) {
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return 0;
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} else {
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return mjrf_uploadGuiImage(texture_id,
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reinterpret_cast<const unsigned char*>(pixels),
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width, height, bpp, &render_context_);
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}
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}
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double Renderer::GetFps() { return fps_; }
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void Renderer::UpdateFps() {
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#ifdef MUJOCO_RENDERER_CLASSIC_OPENGL
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TimePoint now = std::chrono::steady_clock::now();
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TimePoint::duration delta_time = now - last_fps_update_;
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const double interval = std::chrono::duration<double>(delta_time).count();
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++frames_;
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if (interval > 0.2) { // only update FPS stat at most 5 times per second
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last_fps_update_ = now;
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fps_ = frames_ / interval;
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frames_ = 0;
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if (IsClassic(gfx_)) {
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TimePoint now = std::chrono::steady_clock::now();
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TimePoint::duration delta_time = now - last_fps_update_;
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const double interval = std::chrono::duration<double>(delta_time).count();
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++frames_;
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if (interval > 0.2) { // only update FPS stat at most 5 times per second
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last_fps_update_ = now;
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fps_ = frames_ / interval;
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frames_ = 0;
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}
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} else {
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fps_ = mjrf_getFrameRate(&render_context_);
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}
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#else
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fps_ = mjrf_getFrameRate(&render_context_);
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#endif
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}
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RendererBackend Renderer::GetBackend() {
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#if defined(MUJOCO_RENDERER_FILAMENT_OPENGL_HEADLESS)
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return RendererBackend::FilamentOpenGlHeadless;
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#elif defined(MUJOCO_RENDERER_FILAMENT_OPENGL)
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return RendererBackend::FilamentOpenGl;
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#elif defined(MUJOCO_RENDERER_FILAMENT_VULKAN)
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return RendererBackend::FilamentVulkan;
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#elif defined(MUJOCO_RENDERER_FILAMENT_WEBGL)
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return RendererBackend::FilamentWebGl;
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#elif defined(MUJOCO_RENDERER_CLASSIC_OPENGL)
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return RendererBackend::ClassicOpenGl;
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#else
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#error "Unsupported renderer backend."
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#endif
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}
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} // namespace mujoco::platform
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#if !defined(MUJOCO_RENDERER_CLASSIC_OPENGL)
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mjPLUGIN_LIB_INIT {
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mujoco::platform::GuiPlugin plugin;
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plugin.name = "Filament";
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@@ -221,4 +224,3 @@ mjPLUGIN_LIB_INIT {
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};
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mujoco::platform::RegisterPlugin(plugin);
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}
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#endif
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