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

Rename all filament mjr_ functions to mjrf_.

Browse Source 
Rename stubs.cc to mjr_compat.cc. This library acts like a
"compatibility layer" that allows the filament renderer to
be implemented behind the mjr API.

PiperOrigin-RevId: 875114054
Change-Id: I5c47581cacbcadff4c78d2ad15728cc1c3a394ad
This commit is contained in:
Haroon Qureshi
2026-02-25 05:43:22 -08:00
committed by Copybara-Service
parent 22e3217fc0
commit 757758dd2e
5 changed files with 93 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/filament/render_context_filament.cc
+22 -20
View File
@@ -32,17 +32,17 @@ static mujoco::FilamentContext* g_filament_context = nullptr;
static void CheckFilamentContext() {
if (g_filament_context == nullptr) {
mju_error("Missing context; did you call mjr_makeFilamentContext?");
mju_error("Missing context; did you call mjrf_makeFilamentContext?");
}
}
extern "C" {
void mjr_defaultFilamentConfig(mjrFilamentConfig* config) {
void mjrf_defaultFilamentConfig(mjrFilamentConfig* config) {
memset(config, 0, sizeof(mjrFilamentConfig));
}
void mjr_makeFilamentContext(const mjModel* m, mjrContext* con,
void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
const mjrFilamentConfig* config) {
// TODO: Support multiple contexts and multiple threads. For now, we'll just
// assume a single, global context.
@@ -52,16 +52,18 @@ void mjr_makeFilamentContext(const mjModel* m, mjrContext* con,
g_filament_context = new mujoco::FilamentContext(config, m, con);
}
void mjr_defaultContext(mjrContext* con) { memset(con, 0, sizeof(mjrContext)); }
void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
mjr_freeContext(con);
mjrFilamentConfig cfg;
mjr_defaultFilamentConfig(&cfg);
mjr_makeFilamentContext(m, con, &cfg);
void mjrf_defaultContext(mjrContext* con) {
memset(con, 0, sizeof(mjrContext));
}
void mjr_freeContext(mjrContext* con) {
void mjrf_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
mjr_freeContext(con);
mjrFilamentConfig cfg;
mjrf_defaultFilamentConfig(&cfg);
mjrf_makeFilamentContext(m, con, &cfg);
}
void mjrf_freeContext(mjrContext* con) {
// mjr_freeContext may be called multiple times.
if (g_filament_context) {
delete g_filament_context;
@@ -70,50 +72,50 @@ void mjr_freeContext(mjrContext* con) {
mjr_defaultContext(con);
}
void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
void mjrf_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
CheckFilamentContext();
g_filament_context->Render(viewport, scn, con);
}
void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
void mjrf_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
CheckFilamentContext();
g_filament_context->UploadMesh(m, meshid);
}
void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
void mjrf_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
CheckFilamentContext();
g_filament_context->UploadTexture(m, texid);
}
void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
void mjrf_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
CheckFilamentContext();
g_filament_context->UploadHeightField(m, hfieldid);
}
void mjr_setBuffer(int framebuffer, mjrContext* con) {
void mjrf_setBuffer(int framebuffer, mjrContext* con) {
CheckFilamentContext();
g_filament_context->SetFrameBuffer(framebuffer);
}
void mjr_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
void mjrf_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
const mjrContext* con) {
CheckFilamentContext();
g_filament_context->ReadPixels(viewport, rgb, depth);
}
uintptr_t mjr_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
uintptr_t mjrf_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
int width, int height, int bpp,
const mjrContext* con) {
CheckFilamentContext();
return g_filament_context->UploadGuiImage(tex_id, pixels, width, height, bpp);
}
double mjr_getFrameRate(const mjrContext* con) {
double mjrf_getFrameRate(const mjrContext* con) {
CheckFilamentContext();
return g_filament_context->GetFrameRate();
}
void mjr_updateGui(const mjrContext* con) {
void mjrf_updateGui(const mjrContext* con) {
if (g_filament_context != nullptr) {
g_filament_context->UpdateGui();
}