From 7e848e9406e69b582198e3680ffc9341a1ee85a7 Mon Sep 17 00:00:00 2001
From: Haroon Qureshi <haroonq@google.com>
Date: Wed, 29 Apr 2026 07:57:55 -0700
Subject: [PATCH] Add mjr_sceneParams for creating Scene objects.

PiperOrigin-RevId: 907589621
Change-Id: If7537cf6fbac6d6418ac2bf8315714ada969511d
---
 src/experimental/filament/compat/imgui_bridge.cc    | 10 ++++++----
 src/experimental/filament/compat/scene_bridge.cc    |  4 +++-
 src/experimental/filament/filament/scene_view.cc    | 13 ++++++++++++-
 src/experimental/filament/filament/scene_view.h     |  2 +-
 .../filament/render_context_filament.cc             |  6 ++++++
 src/experimental/filament/render_context_filament.h | 13 +++++++++++++
 6 files changed, 41 insertions(+), 7 deletions(-)

diff --git a/src/experimental/filament/compat/imgui_bridge.cc b/src/experimental/filament/compat/imgui_bridge.cc
index 6b303f05..26ca06c2 100644
--- a/src/experimental/filament/compat/imgui_bridge.cc
+++ b/src/experimental/filament/compat/imgui_bridge.cc
@@ -37,10 +37,12 @@ using filament::math::float3;
 using filament::math::mat3f;
 
 ImguiBridge::ImguiBridge(FilamentContext* ctx) : ctx_(ctx) {
-  scene_view_ = std::make_unique<SceneView>(ctx_);
-  scene_view_->DisableShadows();
-  scene_view_->DisableReflections();
-  scene_view_->DisablePostProcessing();
+  mjrSceneParams params;
+  mjr_defaultSceneParams(&params);
+  params.enable_post_processing = false;
+  params.enable_reflections = false;
+  params.enable_shadows = false;
+  scene_view_ = std::make_unique<SceneView>(ctx_, params);
 }
 
 ImguiBridge::~ImguiBridge() {
diff --git a/src/experimental/filament/compat/scene_bridge.cc b/src/experimental/filament/compat/scene_bridge.cc
index 85d2b1e0..ed35625d 100644
--- a/src/experimental/filament/compat/scene_bridge.cc
+++ b/src/experimental/filament/compat/scene_bridge.cc
@@ -83,7 +83,9 @@ static std::unique_ptr<Texture> CreateFallbackIndirectLightTexture(
 
 SceneBridge::SceneBridge(FilamentContext* ctx, const mjModel* model)
     : ctx_(ctx) {
-  scene_view_ = std::make_unique<SceneView>(ctx_);
+  mjrSceneParams params;
+  mjr_defaultSceneParams(&params);
+  scene_view_ = std::make_unique<SceneView>(ctx_, params);
   model_objects_ = std::make_unique<ModelObjects>(model, ctx_);
 
   // Configure options for the normal view.
diff --git a/src/experimental/filament/filament/scene_view.cc b/src/experimental/filament/filament/scene_view.cc
index 588e98ec..c8fe57fa 100644
--- a/src/experimental/filament/filament/scene_view.cc
+++ b/src/experimental/filament/filament/scene_view.cc
@@ -121,7 +121,8 @@ static void SetupReflectionCamera(const mat4& surface_xform,
   reflection_camera->setCustomProjection(oblique, near, far);
 }
 
-SceneView::SceneView(FilamentContext* ctx) : ctx_(ctx) {
+SceneView::SceneView(FilamentContext* ctx, const mjrSceneParams& params)
+    : ctx_(ctx) {
   filament::Engine* engine = ctx_->GetEngine();
   scene_ = engine->createScene();
   camera_ = engine->createCamera(utils::EntityManager::get().create());
@@ -152,6 +153,16 @@ SceneView::SceneView(FilamentContext* ctx) : ctx_(ctx) {
   tm.create(fog);
   tm.setTransform(tm.getInstance(fog),
                   mat4::rotation(filament::math::f::PI / 2, float3{-1, 0, 0}));
+
+  if (!params.enable_post_processing) {
+    DisablePostProcessing();
+  }
+  if (!params.enable_reflections) {
+    DisableReflections();
+  }
+  if (!params.enable_shadows) {
+    DisableShadows();
+  }
 }
 
 SceneView::~SceneView() {
diff --git a/src/experimental/filament/filament/scene_view.h b/src/experimental/filament/filament/scene_view.h
index 26f41161..e64be22e 100644
--- a/src/experimental/filament/filament/scene_view.h
+++ b/src/experimental/filament/filament/scene_view.h
@@ -43,7 +43,7 @@ namespace mujoco {
 // (e.g. normal, depth, segmentation, etc.) as well as reflective surfaces.
 class SceneView : public mjrScene {
  public:
-  explicit SceneView(FilamentContext* ctx);
+  SceneView(FilamentContext* ctx, const mjrSceneParams& params);
   ~SceneView();
 
   SceneView(const SceneView&) = delete;
diff --git a/src/experimental/filament/render_context_filament.cc b/src/experimental/filament/render_context_filament.cc
index 30891f5a..74c1d3e1 100644
--- a/src/experimental/filament/render_context_filament.cc
+++ b/src/experimental/filament/render_context_filament.cc
@@ -63,6 +63,12 @@ void mjr_defaultMeshData(mjrMeshData* data) {
   std::memset(data, 0, sizeof(mjrMeshData));
 }
 
+void mjr_defaultSceneParams(mjrSceneParams* params) {
+  params->enable_post_processing = true;
+  params->enable_reflections = true;
+  params->enable_shadows = true;
+}
+
 void mjr_defaultLightParams(mjrLightParams* params) {
   params->type = mjLIGHT_POINT;
   params->texture = nullptr;
diff --git a/src/experimental/filament/render_context_filament.h b/src/experimental/filament/render_context_filament.h
index e338a55c..577b11a6 100644
--- a/src/experimental/filament/render_context_filament.h
+++ b/src/experimental/filament/render_context_filament.h
@@ -284,6 +284,19 @@ struct mjrMeshData {
 // Initializes the mjrMeshData to default values.
 void mjr_defaultMeshData(mjrMeshData* data);
 
+// 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;
+};
+
+// Initializes the mjrSceneParams to default values.
+void mjr_defaultSceneParams(mjrSceneParams* params);
+
 // Configuration parameters for a light.
 struct mjrLightParams {
   // The type of light (e.g. spot, point, directional, etc.)