Make Renderer own the scenes.

PiperOrigin-RevId: 936547976
Change-Id: Iec87426a9ae255cdbd3efadc7b602d4183679c81

src/experimental/filament/compat/scene_bridge.cc

@@ -40,28 +40,25 @@ using filament::math::float4;
 using filament::math::mat3;
 using filament::math::mat4;
 
-SceneBridge::SceneBridge(mjrfContext* ctx, const mjModel* model)
+SceneBridge::SceneBridge(mjrfContext* ctx, mjrfScene* scene, const mjModel* model)
-    : ctx_(ctx) {
+    : ctx_(ctx), scene_(scene) {
-  mjrfSceneParams params;
-  mjrf_defaultSceneParams(&params);
-  scene_ = CreateScene(ctx_, params);
   model_objects_ = std::make_unique<ModelObjects>(model, ctx_);
   scene_objects_ = std::make_unique<SceneObjects>(ctx_);
 
-  mjrf_configureSceneFromModel(scene_.get(), model);
+  mjrf_configureSceneFromModel(scene_, model);
 
   auto clear_color = ReadElement(model, "filament.clearColor",
                                  filament::math::float4(0, 0, 0, 1));
   mjrf_setClearColor(ctx_, &clear_color[0]);
 
   light_manager_ =
-      std::make_unique<LightManager>(ctx_, scene_.get(), model_objects_.get());
+      std::make_unique<LightManager>(ctx_, scene_, model_objects_.get());
 }
 
 SceneBridge::~SceneBridge() {
   light_manager_.reset();
   for (auto& iter : renderables_) {
-    mjrf_removeRenderableFromScene(scene_.get(), iter.get());
+    mjrf_removeRenderableFromScene(scene_, iter.get());
   }
   renderables_.clear();
 }
@@ -115,7 +112,7 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
 
   // Remove all drawables from previous render and prepare new ones.
   for (auto& iter : renderables_) {
-    mjrf_removeRenderableFromScene(scene_.get(), iter.get());
+    mjrf_removeRenderableFromScene(scene_, iter.get());
   }
   renderables_.clear();
   for (int i = 0; i < scene->ngeom; ++i) {
@@ -154,7 +151,7 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
           mjrf_setRenderableMaterial(vertex.get(), &material);
           mjrf_setRenderableSize(vertex.get(), size);
           mjrf_setRenderableTransform(vertex.get(), scene->flexvert + 3*v, rot);
-          mjrf_addRenderableToScene(scene_.get(), vertex.get());
+          mjrf_addRenderableToScene(scene_, vertex.get());
           renderables_.push_back(std::move(vertex));
         }
       }
@@ -199,7 +196,7 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
           mjrf_setRenderableMaterial(vertex.get(), &material);
           mjrf_setRenderableSize(vertex.get(), size);
           mjrf_setRenderableTransform(vertex.get(), pos, rot);
-          mjrf_addRenderableToScene(scene_.get(), vertex.get());
+          mjrf_addRenderableToScene(scene_, vertex.get());
           renderables_.push_back(std::move(vertex));
         }
       }
@@ -215,7 +212,7 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
     UniquePtr<mjrfRenderable> renderable = CreateGeomRenderable(
         *geom, ctx_, model_objects_.get(), scene_objects_.get());
 
-    mjrf_addRenderableToScene(scene_.get(), renderable.get());
+    mjrf_addRenderableToScene(scene_, renderable.get());
     renderables_.push_back(std::move(renderable));
   }
 
@@ -269,8 +266,6 @@ void SceneBridge::SetDrawTextFunction(DrawTextAtFn fn) {
   draw_text_callback_ = std::move(fn);
 }
 
-mjrfScene* SceneBridge::GetScene() const { return scene_.get(); }
-
 mjrCamera SceneBridge::GetCamera() const { return camera_; }
 
 }  // namespace mujoco

src/experimental/filament/compat/scene_bridge.h

@@ -35,7 +35,7 @@ namespace mujoco {
 // Manages all mjModel data and updates a SceneView using an mjvScene.
 class SceneBridge {
  public:
-  SceneBridge(mjrfContext* ctx, const mjModel* model);
+  SceneBridge(mjrfContext* ctx, mjrfScene* scene, const mjModel* model);
   ~SceneBridge();
 
   // Updates the Entities in the filament Scene to match the current mjvScene
@@ -50,8 +50,7 @@ class SceneBridge {
   using DrawTextAtFn = std::function<void(const char*, float, float, float)>;
   void SetDrawTextFunction(DrawTextAtFn fn);
 
-  // Returns the managed scene.
+  // Returns the camera used for rendering the scene.
-  mjrfScene* GetScene() const;
   mjrCamera GetCamera() const;
 
   SceneBridge(const SceneBridge&) = delete;
@@ -64,12 +63,12 @@ class SceneBridge {
       const filament::math::float3& pos) const;
 
   mjrfContext* ctx_ = nullptr;
+  mjrfScene* scene_ = nullptr;
   std::unique_ptr<ModelObjects> model_objects_;
   std::unique_ptr<SceneObjects> scene_objects_;
   std::unique_ptr<LightManager> light_manager_;
   mjrCamera camera_;
   DrawTextAtFn draw_text_callback_;
-  UniquePtr<mjrfScene> scene_{nullptr, nullptr};
   std::vector<UniquePtr<mjrfRenderable>> renderables_;
   filament::math::mat4 clip_from_world_;
 };

src/experimental/filament/mjr_compat.cc

@@ -59,7 +59,8 @@ class CompatContext {
 
  private:
   mjrDrawMode draw_mode_ = mjDRAW_MODE_DEFAULT;
-  UniquePtr<mjrfContext> context_;
+  UniquePtr<mjrfContext> context_{nullptr, nullptr};
+  UniquePtr<mjrfScene> scene_{nullptr, nullptr};
   std::unique_ptr<SceneBridge> scene_bridge_;
   mjtFramebuffer framebuffer_ = mjFB_WINDOW;
   UniquePtr<mjrfRenderTarget> color_target_{nullptr, nullptr};
@@ -67,9 +68,11 @@ class CompatContext {
 };
 
 CompatContext::CompatContext(const mjrfContextConfig* config,
-                             const mjModel* model)
+                             const mjModel* model) {
-    : context_(CreateContext(*config)) {
+  context_ = CreateContext(*config);
-  scene_bridge_ = std::make_unique<SceneBridge>(context_.get(), model);
+  scene_ = CreateScene(context_.get(), {});
+  scene_bridge_ =
+      std::make_unique<SceneBridge>(context_.get(), scene_.get(), model);
 }
 
 void CompatContext::Render(const mjrRect& viewport, const mjvScene* scene) {
@@ -92,7 +95,7 @@ void CompatContext::Render(const mjrRect& viewport, const mjvScene* scene) {
   if (framebuffer_ == mjFB_WINDOW) {
     mjrfRenderRequest req;
     mjrf_defaultRenderRequest(&req);
-    req.scene = scene_bridge_->GetScene();
+    req.scene = scene_.get();
     req.draw_mode = draw_mode_;
     req.camera = scene_bridge_->GetCamera();
     req.viewport = viewport;
@@ -121,7 +124,7 @@ void CompatContext::ReadPixels(mjrRect viewport, unsigned char* rgb,
 
     mjrfRenderRequest req;
     mjrf_defaultRenderRequest(&req);
-    req.scene = scene_bridge_->GetScene();
+    req.scene = scene_.get();
     req.draw_mode = draw_mode_;
     req.camera = scene_bridge_->GetCamera();
     req.viewport = viewport;
@@ -149,7 +152,7 @@ void CompatContext::ReadPixels(mjrRect viewport, unsigned char* rgb,
 
     mjrfRenderRequest req;
     mjrf_defaultRenderRequest(&req);
-    req.scene = scene_bridge_->GetScene();
+    req.scene = scene_.get();
     req.draw_mode = mjDRAW_MODE_DEPTH;
     req.camera = scene_bridge_->GetCamera();
     req.viewport = viewport;

src/experimental/platform/hal/renderer.cc

@@ -69,8 +69,8 @@ Renderer::Renderer(void* native_window, GraphicsMode gfx)
   }
 
   g_update_gui_callback = [this]() {
-    if (scene_bridge_) {
+    if (main_scene_) {
-      mjrf_DEBUG_drawImguiEditor(scene_bridge_->GetScene());
+      mjrf_DEBUG_drawImguiEditor(main_scene_.get());
     }
   };
 }
@@ -102,9 +102,12 @@ void Renderer::Init(const mjModel* model) {
                              ? mjGRAPHICS_API_OPENGL
                              : mjGRAPHICS_API_VULKAN;
       filament_context_ = CreateContext(cfg);
-      scene_bridge_ =
+      main_scene_ = CreateScene(filament_context_.get(), {});
-          std::make_unique<SceneBridge>(filament_context_.get(), model);
+      ux_scene_ = CreateScene(filament_context_.get(), {});
-      imgui_bridge_ = std::make_unique<ImguiBridge>(filament_context_.get());
+      scene_bridge_ = std::make_unique<SceneBridge>(filament_context_.get(),
+                                                    main_scene_.get(), model);
+      imgui_bridge_ = std::make_unique<ImguiBridge>(filament_context_.get(),
+                                                    ux_scene_.get());
       scene_bridge_->SetDrawTextFunction(DrawTextAt);
     }
 
@@ -122,6 +125,8 @@ void Renderer::Deinit() {
     } else {
       scene_bridge_.reset();
       imgui_bridge_.reset();
+      ux_scene_.reset();
+      main_scene_.reset();
       filament_context_.reset();
     }
     initialized_ = false;
@@ -242,7 +247,7 @@ void Renderer::DoRender(int width, int height) {
       mjrfRenderRequest reqs[2];
 
       mjrf_defaultRenderRequest(&reqs[0]);
-      reqs[0].scene = scene_bridge_->GetScene();
+      reqs[0].scene = main_scene_.get();
       reqs[0].draw_mode = draw_mode;
       reqs[0].camera = scene_bridge_->GetCamera();
       reqs[0].viewport = viewport;
@@ -250,7 +255,7 @@ void Renderer::DoRender(int width, int height) {
       reqs[0].enable_reflections = scene_.flags[mjRND_REFLECTION];
 
       mjrf_defaultRenderRequest(&reqs[1]);
-      reqs[1].scene = imgui_bridge_->GetScene();
+      reqs[1].scene = ux_scene_.get();
       reqs[1].draw_mode = mjDRAW_MODE_DEFAULT;
       reqs[1].camera = imgui_bridge_->GetCamera(viewport.width, viewport.height);
       reqs[1].viewport = viewport;
@@ -308,7 +313,7 @@ void Renderer::DoReadPixels(int width, int height, unsigned char* rgb) {
 
     mjrfRenderRequest reqs[2];
     mjrf_defaultRenderRequest(&reqs[0]);
-    reqs[0].scene = scene_bridge_->GetScene();
+    reqs[0].scene = main_scene_.get();
     reqs[0].draw_mode = draw_mode;
     reqs[0].camera = scene_bridge_->GetCamera();
     reqs[0].target = target.get();
@@ -317,7 +322,7 @@ void Renderer::DoReadPixels(int width, int height, unsigned char* rgb) {
     reqs[0].enable_reflections = scene_.flags[mjRND_REFLECTION];
 
     mjrf_defaultRenderRequest(&reqs[1]);
-    reqs[1].scene = imgui_bridge_->GetScene();
+    reqs[1].scene = ux_scene_.get();
     reqs[1].draw_mode = mjDRAW_MODE_DEFAULT;
     reqs[1].camera = imgui_bridge_->GetCamera(viewport.width, viewport.height);
     reqs[1].target = target.get();

src/experimental/platform/hal/renderer.h

@@ -112,6 +112,8 @@ class Renderer {
 
   // State used by the filament renderer.
   UniquePtr<mjrfContext> filament_context_{nullptr, nullptr};
+  UniquePtr<mjrfScene> main_scene_{nullptr, nullptr};
+  UniquePtr<mjrfScene> ux_scene_{nullptr, nullptr};
   std::unique_ptr<SceneBridge> scene_bridge_;
   std::unique_ptr<ImguiBridge> imgui_bridge_;
 

src/experimental/platform/ux/imgui_bridge.cc

@@ -33,10 +33,10 @@ namespace mujoco {
 using filament::math::float3;
 using filament::math::mat3f;
 
-ImguiBridge::ImguiBridge(mjrfContext* ctx) : ctx_(ctx) {
+ImguiBridge::ImguiBridge(mjrfContext* ctx, mjrfScene* scene)
+    : ctx_(ctx), scene_(scene) {
   mjrfSceneParams params;
   mjrf_defaultSceneParams(&params);
-  scene_ = CreateScene(ctx_, params);
 }
 
 ImguiBridge::~ImguiBridge() {
@@ -287,16 +287,14 @@ void ImguiBridge::PrepareRenderables(int count) {
     params.receive_shadows = false;
     params.blend_order = static_cast<std::uint16_t>(renderables_.size() + 1);
     auto& renderable = renderables_.emplace_back(CreateRenderable(ctx_, params));
-    mjrf_addRenderableToScene(scene_.get(), renderable.get());
+    mjrf_addRenderableToScene(scene_, renderable.get());
   }
   while (renderables_.size() > count) {
-    mjrf_removeRenderableFromScene(scene_.get(), renderables_.back().get());
+    mjrf_removeRenderableFromScene(scene_, renderables_.back().get());
     renderables_.pop_back();
   }
 }
 
-mjrfScene* ImguiBridge::GetScene() const { return scene_.get(); }
-
 mjrCamera ImguiBridge::GetCamera(int width, int height) const {
   mjrCamera camera;
   camera.orthographic = true;

src/experimental/platform/ux/imgui_bridge.h

@@ -28,7 +28,7 @@ namespace mujoco {
 // Creates and manages a SceneView using data read from ImGui.
 class ImguiBridge {
  public:
-  explicit ImguiBridge(mjrfContext* ctx);
+  explicit ImguiBridge(mjrfContext* ctx, mjrfScene* scene);
   ~ImguiBridge();
 
   // Prepares the Renderables using data from the current ImGui state. This
@@ -36,8 +36,7 @@ class ImguiBridge {
   // synced.
   void Update();
 
-  // Returns the managed UX scene.
+  // Returns the camera used for rendering the UX scene.
-  mjrfScene* GetScene() const;
   mjrCamera GetCamera(int width, int height) const;
 
   // Uploads texture to be used with ImGui's Image and ImageButton functions.
@@ -58,7 +57,7 @@ class ImguiBridge {
   mjrfTexture* GetTexture(uintptr_t tex_id) const;
 
   mjrfContext* ctx_ = nullptr;
-  UniquePtr<mjrfScene> scene_{nullptr, nullptr};
+  mjrfScene* scene_ = nullptr;
   std::vector<UniquePtr<mjrfRenderable>> renderables_;
   std::vector<UniquePtr<mjrfMesh>> meshes_;
   std::unordered_map<uintptr_t, UniquePtr<mjrfTexture>> textures_;