Move GetMaterialType into material module.

PiperOrigin-RevId: 915895534
Change-Id: Ic7e9d52374131aa93445f90cf2208f6c93d123f4

src/experimental/filament/filament/material.cc

@@ -21,12 +21,76 @@
 #include <filament/TextureSampler.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament_util.h"
+#include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/texture.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
+ObjectManager::MaterialType GetMaterialType(const mjrMaterial& material,
+                                            const Mesh* mesh) {
+  if (material.decor_ux) {
+    if (material.color_texture) {
+      return ObjectManager::kUnlitUi;
+    } else {
+      return ObjectManager::kUnlitDecor;
+    }
+  } else if (material.orm_texture) {
+    return ObjectManager::kPbrPacked;
+  } else if (material.metallic_texture) {
+    return ObjectManager::kPbr;
+  } else if (material.roughness_texture) {
+    return ObjectManager::kPbr;
+  } else if (material.metallic >= 0) {
+    return ObjectManager::kPbr;
+  } else if (material.roughness >= 0) {
+    return ObjectManager::kPbr;
+  }
+
+  // Check to see if we're dealing with a mesh with texture coordinates.
+  // `data_id` is the id of the mesh in model (i.e. the geom has mesh
+  // geometry) and `mesh_texcoordadr` stores the address of the mesh uvs if
+  // it has them.
+  const Texture* color_texture = Texture::downcast(material.color_texture);
+  const bool has_texcoords =
+      mesh ? mesh->HasVertexAttribute(mjVERTEX_ATTRIBUTE_USAGE_UV) : false;
+
+  if (color_texture == nullptr) {
+    if (material.color[3] < 1.0f) {
+      return ObjectManager::kPhongColorFade;
+    } else if (material.reflective) {
+      return ObjectManager::kPhongColorReflect;
+    } else {
+      return ObjectManager::kPhongColor;
+    }
+  } else if (color_texture->GetSamplerType() == mjTEXTURE_CUBE) {
+    if (material.color[3] < 1.0f) {
+      return ObjectManager::kPhongCubeFade;
+    } else if (material.reflective) {
+      return ObjectManager::kPhongCubeReflect;
+    } else {
+      return ObjectManager::kPhongCube;
+    }
+  } else if (has_texcoords) {
+    if (material.color[3] < 1.0f) {
+      return ObjectManager::kPhong2dUvFade;
+    } else if (material.reflective) {
+      return ObjectManager::kPhong2dUvReflect;
+    } else {
+      return ObjectManager::kPhong2dUv;
+    }
+  } else {
+    if (material.color[3] < 1.0f) {
+      return ObjectManager::kPhong2dFade;
+    } else if (material.reflective) {
+      return ObjectManager::kPhong2dReflect;
+    } else {
+      return ObjectManager::kPhong2d;
+    }
+  }
+}
+
 void UpdateMaterialInstance(filament::MaterialInstance* instance,
                             const mjrMaterial& material,
                             ObjectManager* object_mgr) {

src/experimental/filament/filament/material.h

@@ -17,14 +17,20 @@
 
 #include <filament/Engine.h>
 #include <filament/MaterialInstance.h>
+#include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
-// Updates the material instance using the given parameters and texture data. In
+// Returns a MaterialType that best matches the given material data and mesh.
-// some cases where a material needs a texture, but a specific texture is not
+ObjectManager::MaterialType GetMaterialType(
-// provided, a default texture from the ObjectManager will be used instead.
+    const mjrMaterial& material, const Mesh* mesh);
+
+// Updates the material instance using the given parameters and texture
+// data. In some cases where a material needs a texture, but a specific
+// texture is not provided, a default texture from the ObjectManager will be
+// used instead.
 void UpdateMaterialInstance(filament::MaterialInstance* instance,
                             const mjrMaterial& material,
                             ObjectManager* object_mgr);

src/experimental/filament/filament/mesh.cc

@@ -14,13 +14,13 @@
 
 #include "experimental/filament/filament/mesh.h"
 
+#include <algorithm>
 #include <cfloat>
 #include <cstddef>
 #include <cstdint>
 #include <cstring>
 #include <memory>
 #include <mutex>
-#include <span>
 #include <utility>
 
 #include <filament/Box.h>
@@ -353,8 +353,10 @@ filament::RenderableManager::PrimitiveType Mesh::GetPrimitiveType() const {
   return type_;
 }
 
-std::span<const filament::VertexAttribute> Mesh::GetVertexAttributes() const {
+bool Mesh::HasVertexAttribute(mjrVertexAttributeUsage attrib) const {
-  return {attributes_.data(), attributes_.data() + num_attributes_};
+  auto fattrib = GetUsage(mjrVertexAttribute{.usage = attrib});
+  auto it = std::find(attributes_.begin(), attributes_.end(), fattrib);
+  return it != attributes_.end();
 }
 
 bool Mesh::HasBounds() const {

src/experimental/filament/filament/mesh.h

@@ -20,7 +20,6 @@
 #include <memory>
 #include <mutex>
 #include <optional>
-#include <span>
 #include <vector>
 
 #include <filament/Box.h>
@@ -52,8 +51,8 @@ class Mesh : public mjrMesh {
   // Returns the primitive type of the mesh.
   filament::RenderableManager::PrimitiveType GetPrimitiveType() const;
 
-  // Returns the vertex attribute usages for the mesh.
+  // Returns true if the mesh has the given attribute.
-  std::span<const filament::VertexAttribute> GetVertexAttributes() const;
+  bool HasVertexAttribute(mjrVertexAttributeUsage attrib) const;
 
   // Returns whether the mesh has bounds.
   bool HasBounds() const;

src/experimental/filament/filament/renderable.cc

@@ -14,7 +14,6 @@
 
 #include "experimental/filament/filament/renderable.h"
 
-#include <algorithm>
 #include <cstdint>
 #include <numbers>
 
@@ -34,7 +33,6 @@
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/object_manager.h"
-#include "experimental/filament/filament/texture.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
@@ -210,7 +208,9 @@ void Renderable::RemoveFromScene(filament::Scene* scene) {
 void Renderable::UpdateMaterial(const mjrMaterial& material) {
   material_ = material;
 
-  AssignMaterial(mjDRAW_MODE_COLOR, GetColorMaterialType());
+  const Mesh* mesh = !parts_.empty() ? parts_[0].mesh : nullptr;
+
+  AssignMaterial(mjDRAW_MODE_COLOR, GetMaterialType(material_, mesh));
   if (!material_.decor_ux) {
     AssignMaterial(mjDRAW_MODE_DEPTH, ObjectManager::kUnlitDepth);
     AssignMaterial(mjDRAW_MODE_SEGMENTATION, ObjectManager::kUnlitSegmentation);
@@ -348,73 +348,6 @@ void Renderable::SetWireframe(bool wireframe) {
   }
 }
 
-ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
-  if (material_.decor_ux) {
-    if (material_.color_texture) {
-      return ObjectManager::kUnlitUi;
-    } else {
-      return ObjectManager::kUnlitDecor;
-    }
-  } else if (material_.orm_texture) {
-    return ObjectManager::kPbrPacked;
-  } else if (material_.metallic_texture) {
-    return ObjectManager::kPbr;
-  } else if (material_.roughness_texture) {
-    return ObjectManager::kPbr;
-  } else if (material_.metallic >= 0) {
-    return ObjectManager::kPbr;
-  } else if (material_.roughness >= 0) {
-    return ObjectManager::kPbr;
-  }
-
-  // Check to see if we're dealing with a mesh with texture coordinates.
-  // `data_id` is the id of the mesh in model (i.e. the geom has mesh
-  // geometry) and `mesh_texcoordadr` stores the address of the mesh uvs if
-  // it has them.
-  bool has_texcoords = false;
-  const Texture* color_texture = Texture::downcast(material_.color_texture);
-  if (!parts_.empty()) {
-    const auto attribs = parts_[0].mesh->GetVertexAttributes();
-    auto it = std::find(attribs.begin(), attribs.end(),
-                        filament::VertexAttribute::UV0);
-    has_texcoords = (it != attribs.end());
-  }
-
-  if (color_texture == nullptr) {
-    if (material_.color[3] < 1.0f) {
-      return ObjectManager::kPhongColorFade;
-    } else if (material_.reflective) {
-      return ObjectManager::kPhongColorReflect;
-    } else {
-      return ObjectManager::kPhongColor;
-    }
-  } else if (color_texture->GetSamplerType() == mjTEXTURE_CUBE) {
-    if (material_.color[3] < 1.0f) {
-      return ObjectManager::kPhongCubeFade;
-    } else if (material_.reflective) {
-      return ObjectManager::kPhongCubeReflect;
-    } else {
-      return ObjectManager::kPhongCube;
-    }
-  } else if (has_texcoords) {
-    if (material_.color[3] < 1.0f) {
-      return ObjectManager::kPhong2dUvFade;
-    } else if (material_.reflective) {
-      return ObjectManager::kPhong2dUvReflect;
-    } else {
-      return ObjectManager::kPhong2dUv;
-    }
-  } else {
-    if (material_.color[3] < 1.0f) {
-      return ObjectManager::kPhong2dFade;
-    } else if (material_.reflective) {
-      return ObjectManager::kPhong2dReflect;
-    } else {
-      return ObjectManager::kPhong2d;
-    }
-  }
-}
-
 void Renderable::SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad) {
   Builtins* builtins = object_mgr_->GetBuiltins(nstack, nslice, nquad);
   geom_type_ = type;

src/experimental/filament/filament/renderable.h

@@ -121,7 +121,6 @@ class Renderable : public mjrRenderable {
   void AppendMesh(const Mesh* mesh);
   void InitPartEntity(Part& part);
 
-  ObjectManager::MaterialType GetColorMaterialType() const;
   void AssignMaterial(mjrDrawMode mode,
                       ObjectManager::MaterialType material_type);