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Rename types to conform to mjr naming conventions.

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PiperOrigin-RevId: 904459745
Change-Id: I9369bec34e72dc973df45f844fcf1a6cb08b26b1
This commit is contained in:
Haroon Qureshi
2026-04-23 08:01:03 -07:00
committed by Copybara-Service
parent 2bc97d8408
commit 8a87a1efbf
7 changed files with 132 additions and 80 deletions
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src/experimental/filament/filament/imgui_bridge.cc
+4 -2
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@@ -247,10 +247,12 @@ void ImguiBridge::Update() {
auto& renderable = renderables_[renderable_index];
renderable->SetMesh(mesh, index_offset, command.ElemCount);
MaterialTextures textures;
mjrMaterialTextures textures;
mjr_defaultMaterialTextures(&textures);
textures.color = textures_[command.GetTexID()].get();
MaterialParams properties;
mjrMaterialParams properties;
mjr_defaultMaterialParams(&properties);
properties.scissor[0] = command.ClipRect.x;
properties.scissor[1] = height - command.ClipRect.w;
properties.scissor[2] = command.ClipRect.z - command.ClipRect.x;
src/experimental/filament/filament/material.cc
+45 -6
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@@ -14,20 +14,59 @@
#include "experimental/filament/filament/material.h"
#include <array>
#include <filament/Color.h>
#include <filament/Material.h>
#include <filament/MaterialInstance.h>
#include <filament/RenderableManager.h>
#include <filament/TextureSampler.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/filament/texture.h"
#include "experimental/filament/filament/object_manager.h"
namespace mujoco {
template <int N>
static void setf(float (&arr)[N], const std::array<float, N>& values) {
for (int i = 0; i < N; ++i) {
arr[i] = values[i];
}
}
void mjr_defaultMaterialTextures(mjrMaterialTextures* textures) {
textures->color = nullptr;
textures->normal = nullptr;
textures->metallic = nullptr;
textures->roughness = nullptr;
textures->occlusion = nullptr;
textures->orm = nullptr;
textures->emissive = nullptr;
textures->reflection = nullptr;
}
void mjr_defaultMaterialParams(mjrMaterialParams* params) {
setf(params->color, {1.f, 1.f, 1.f, 1.f});
setf(params->segmentation_color, {1, 1, 1, 1});
setf(params->uv_scale, {1, 1});
setf(params->uv_offset, {0, 0});
setf(params->scissor, {0, 0, 0, 0});
params->emissive = -1.0f;
params->specular = -1.0f;
params->glossiness = -1.0f;
params->metallic = -1.0f;
params->roughness = -1.0f;
params->reflectance = 0.0f;
params->tex_uniform = false;
params->reflective = false;
}
void UpdateMaterialInstance(filament::MaterialInstance* instance,
const MaterialParams& params,
const MaterialTextures& textures,
const mjrMaterialParams& params,
const mjrMaterialTextures& textures,
ObjectManager* object_mgr) {
if (params.scissor[2] != 0 && params.scissor[3] != 0) {
instance->setScissor(params.scissor[0], params.scissor[1],
@@ -37,11 +76,11 @@ void UpdateMaterialInstance(filament::MaterialInstance* instance,
const filament::Material* material = instance->getMaterial();
if (material->hasParameter("BaseColorFactor")) {
instance->setParameter("BaseColorFactor", filament::RgbaType::sRGB,
params.color);
ReadFloat4(params.color));
}
if (material->hasParameter("SegmentationColor")) {
instance->setParameter("SegmentationColor", filament::RgbaType::LINEAR,
params.segmentation_color);
ReadFloat4(params.segmentation_color));
}
if (material->hasParameter("EmissiveFactor")) {
instance->setParameter("EmissiveFactor", params.emissive);
@@ -61,10 +100,10 @@ void UpdateMaterialInstance(filament::MaterialInstance* instance,
params.roughness >= 0 ? params.roughness : 1.0f);
}
if (material->hasParameter("UvScale")) {
instance->setParameter("UvScale", params.uv_scale);
instance->setParameter("UvScale", ReadFloat3(params.uv_scale));
}
if (material->hasParameter("UvOffset")) {
instance->setParameter("UvOffset", params.uv_offset);
instance->setParameter("UvOffset", ReadFloat3(params.uv_offset));
}
if (material->hasParameter("Reflectance")) {
instance->setParameter("Reflectance", params.reflectance);
src/experimental/filament/filament/material.h
+31 -29
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@@ -17,49 +17,51 @@
#include <filament/Engine.h>
#include <filament/MaterialInstance.h>
#include <math/vec2.h>
#include <math/vec3.h>
#include <math/vec4.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/texture.h"
#include "experimental/filament/filament/object_manager.h"
namespace mujoco {
// The textures that can be assigned to the drawable's material.
struct MaterialTextures {
const Texture* color = nullptr;
const Texture* normal = nullptr;
const Texture* metallic = nullptr;
const Texture* roughness = nullptr;
const Texture* occlusion = nullptr;
const Texture* orm = nullptr;
const Texture* emissive = nullptr;
const Texture* reflection = nullptr;
struct mjrMaterialTextures {
const Texture* color;
const Texture* normal;
const Texture* metallic;
const Texture* roughness;
const Texture* occlusion;
const Texture* orm;
const Texture* emissive;
const Texture* reflection;
};
void mjr_defaultMaterialTextures(mjrMaterialTextures* textures);
// The parameters that can be applied to the drawable's material.
struct MaterialParams {
filament::math::float4 color = {1, 1, 1, 1};
filament::math::float4 segmentation_color = {1, 1, 1, 1};
filament::math::float2 tex_repeat = {1, 1};
filament::math::float3 uv_scale = {1, 1, 1};
filament::math::float3 uv_offset = {0, 0, 0};
filament::math::float4 scissor = {0, 0, 0, 0};
float specular = -1.0f;
float glossiness = -1.0f;
float metallic = -1.0f;
float roughness = -1.0f;
float emissive = -1.0f;
float reflectance = 0.0f;
bool tex_uniform = false;
bool reflective = false;
struct mjrMaterialParams {
float color[4];
float segmentation_color[4];
float tex_repeat[2];
float uv_scale[3];
float uv_offset[3];
float scissor[4];
float specular;
float glossiness;
float metallic;
float roughness;
float emissive;
float reflectance;
mjtByte tex_uniform;
mjtByte reflective;
};
void mjr_defaultMaterialParams(mjrMaterialParams* params);
// Updates the material instances based on the currently set parameters and
// textures.
void UpdateMaterialInstance(filament::MaterialInstance* instance,
const MaterialParams& params,
const MaterialTextures& textures,
const mjrMaterialParams& params,
const mjrMaterialTextures& textures,
ObjectManager* object_mgr);
} // namespace mujoco
src/experimental/filament/filament/renderable.cc
+12 -9
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@@ -41,7 +41,10 @@ void mjr_defaultRenderableParams(mjrRenderableParams* params) {
}
Renderable::Renderable(ObjectManager* object_mgr, const mjrRenderableParams& params)
: object_mgr_(object_mgr), params_(params) {}
: object_mgr_(object_mgr), params_(params) {
mjr_defaultMaterialParams(&material_params_);
mjr_defaultMaterialTextures(&material_textures_);
}
Renderable::~Renderable() noexcept {
filament::Engine* engine = GetEngine();
@@ -198,8 +201,8 @@ void Renderable::RemoveFromScene(filament::Scene* scene) {
assigned_scene_ = nullptr;
}
void Renderable::UpdateMaterial(const MaterialParams& params,
const MaterialTextures& textures) {
void Renderable::UpdateMaterial(const mjrMaterialParams& params,
const mjrMaterialTextures& textures) {
material_params_ = params;
material_textures_ = textures;
@@ -237,11 +240,11 @@ void Renderable::AssignMaterial(DrawMode mode,
}
}
const MaterialParams& Renderable::GetMaterialParams() const {
const mjrMaterialParams& Renderable::GetMaterialParams() const {
return material_params_;
}
const MaterialTextures& Renderable::GetMaterialTextures() const {
const mjrMaterialTextures& Renderable::GetMaterialTextures() const {
return material_textures_;
}
@@ -374,7 +377,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
}
if (material_textures_.color == nullptr) {
if (material_params_.color.a < 1.0f) {
if (material_params_.color[3] < 1.0f) {
return ObjectManager::kPhongColorFade;
} else if (material_params_.reflective) {
return ObjectManager::kPhongColorReflect;
@@ -383,7 +386,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
}
} else if (material_textures_.color->GetFilamentTexture()->getTarget() ==
filament::Texture::Sampler::SAMPLER_CUBEMAP) {
if (material_params_.color.a < 1.0f) {
if (material_params_.color[3] < 1.0f) {
return ObjectManager::kPhongCubeFade;
} else if (material_params_.reflective) {
return ObjectManager::kPhongCubeReflect;
@@ -391,7 +394,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
return ObjectManager::kPhongCube;
}
} else if (has_texcoords) {
if (material_params_.color.a < 1.0f) {
if (material_params_.color[3] < 1.0f) {
return ObjectManager::kPhong2dUvFade;
} else if (material_params_.reflective) {
return ObjectManager::kPhong2dUvReflect;
@@ -399,7 +402,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
return ObjectManager::kPhong2dUv;
}
} else {
if (material_params_.color.a < 1.0f) {
if (material_params_.color[3] < 1.0f) {
return ObjectManager::kPhong2dFade;
} else if (material_params_.reflective) {
return ObjectManager::kPhong2dReflect;
src/experimental/filament/filament/renderable.h
+6 -6
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@@ -127,14 +127,14 @@ class Renderable {
void SetDrawMode(DrawMode mode);
// Updates the parameters for the material.
void UpdateMaterial(const MaterialParams& params,
const MaterialTextures& textures);
void UpdateMaterial(const mjrMaterialParams& params,
const mjrMaterialTextures& textures);
// Returns the current material parameters.
const MaterialParams& GetMaterialParams() const;
const mjrMaterialParams& GetMaterialParams() const;
// Returns the current material textures.
const MaterialTextures& GetMaterialTextures() const;
const mjrMaterialTextures& GetMaterialTextures() const;
// Returns the filament Engine managing the renderables.
filament::Engine* GetEngine();
@@ -156,8 +156,8 @@ class Renderable {
ObjectManager* object_mgr_;
mjrRenderableParams params_;
filament::MaterialInstance* instances_[kNumDrawModes] = {nullptr};
MaterialParams material_params_;
MaterialTextures material_textures_;
mjrMaterialParams material_params_;
mjrMaterialTextures material_textures_;
DrawMode draw_mode_ = DrawMode::Color;
filament::Scene* assigned_scene_ = nullptr;
std::vector<Part> parts_;
src/experimental/filament/filament/scene_geom_util.cc
+31 -25
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@@ -351,8 +351,12 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
const mjModel* model = model_objs->GetModel();
const bool use_segid_color = scene->flags[mjRND_IDCOLOR];
MaterialParams params;
params.color = ReadFloat4(geom.rgba);
mjrMaterialParams params;
mjr_defaultMaterialParams(&params);
params.color[0] = geom.rgba[0];
params.color[1] = geom.rgba[1];
params.color[2] = geom.rgba[2];
params.color[3] = geom.rgba[3];
if (geom.type == mjGEOM_PLANE) {
if (IsBehind(headpos, geom.pos, geom.mat)) {
params.color[3] *= 0.3;
@@ -360,7 +364,7 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
params.reflective = false;
} else {
renderable.SetReceiveShadows(true);
params.reflective = geom.reflectance > 0 && params.color.a == 1.0f;
params.reflective = geom.reflectance > 0 && params.color[3] == 1.0f;
}
}
renderable.SetLayerMask(geom.category);
@@ -371,7 +375,8 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
renderable.SetWireframe(scene->flags[mjRND_WIREFRAME]);
}
MaterialTextures textures;
mjrMaterialTextures textures;
mjr_defaultMaterialTextures(&textures);
if (geom.matid >= 0) {
textures.color = model_objs->GetTexture(geom.matid, mjTEXROLE_RGB);
textures.normal = model_objs->GetTexture(geom.matid, mjTEXROLE_NORMAL);
@@ -392,7 +397,8 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
params.metallic = model->mat_metallic[geom.matid];
params.roughness = model->mat_roughness[geom.matid];
params.tex_uniform = model->mat_texuniform[geom.matid];
params.tex_repeat = ReadFloat2(model->mat_texrepeat, geom.matid);
params.tex_repeat[0] = model->mat_texrepeat[(geom.matid * 2) + 0];
params.tex_repeat[1] = model->mat_texrepeat[(geom.matid * 2) + 1];
}
if (geom.segid >= 0) {
@@ -408,9 +414,9 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
const uint8_t red = (segmentation_color >> 0) & 0xff;
const uint8_t green = (segmentation_color >> 8) & 0xff;
const uint8_t blue = (segmentation_color >> 16) & 0xff;
params.segmentation_color.x = static_cast<float>(red) / 255.0f;
params.segmentation_color.y = static_cast<float>(green) / 255.0f;
params.segmentation_color.z = static_cast<float>(blue) / 255.0f;
params.segmentation_color[0] = static_cast<float>(red) / 255.0f;
params.segmentation_color[1] = static_cast<float>(green) / 255.0f;
params.segmentation_color[2] = static_cast<float>(blue) / 255.0f;
}
// UvScale only applies to objects that don't have explicit UV coordinates
@@ -426,23 +432,23 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
// For 2D textures, `tex_repeat` specifies how many times the texture
// image is repeated. The `tex_uniform` flag determines if the repetition
// is applied at in object space (false) or in world space (true).
params.uv_scale.x = params.tex_repeat.x;
params.uv_scale.y = params.tex_repeat.y;
params.uv_scale[0] = params.tex_repeat[0];
params.uv_scale[1] = params.tex_repeat[1];
if (geom.dataid >= 0 && geom.type != mjGEOM_PLANE) {
if (geom.size[0] > mjMINVAL) {
params.uv_scale.x /= geom.size[0];
params.uv_scale[0] /= geom.size[0];
}
if (geom.size[1] > mjMINVAL) {
params.uv_scale.y /= geom.size[1];
params.uv_scale[1] /= geom.size[1];
}
}
if (params.tex_uniform) {
if (geom.size[0] > 0) {
params.uv_scale.x *= geom.size[0];
params.uv_scale[0] *= geom.size[0];
}
if (geom.size[1] > 0) {
params.uv_scale.y *= geom.size[1];
params.uv_scale[1] *= geom.size[1];
}
}
const bool is_infinite_plane =
@@ -452,11 +458,11 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
// re-centering in engine_vis_visualize.c.
const float plane_scale = static_cast<float>(mjMAXPLANEGRID) / 2.0f;
const float tile_size_x =
GetPlaneTileSize(model, geom.matid, params.tex_repeat.x);
GetPlaneTileSize(model, geom.matid, params.tex_repeat[0]);
const float tile_size_y =
GetPlaneTileSize(model, geom.matid, params.tex_repeat.y);
params.uv_scale.x = 2.0f * plane_scale / tile_size_x;
params.uv_scale.y = 2.0f * plane_scale / tile_size_y;
GetPlaneTileSize(model, geom.matid, params.tex_repeat[1]);
params.uv_scale[0] = 2.0f * plane_scale / tile_size_x;
params.uv_scale[1] = 2.0f * plane_scale / tile_size_y;
}
// We want to do the equivalent of:
@@ -464,17 +470,17 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
// mjr_setf4(tplane, 0, -0.5 * scl.y, 0, -0.5);
// glTexGenfv(GL_S, GL_OBJECT_PLANE, splane);
// glTexGenfv(GL_T, GL_OBJECT_PLANE, tplane);
params.uv_scale.x = 0.5f * params.uv_scale.x;
params.uv_scale.y = -0.5f * params.uv_scale.y;
params.uv_offset.x = -0.5f;
params.uv_offset.y = -0.5f;
params.uv_scale[0] = 0.5f * params.uv_scale[0];
params.uv_scale[1] = -0.5f * params.uv_scale[1];
params.uv_offset[0] = -0.5f;
params.uv_offset[1] = -0.5f;
} else {
// For cube maps, if `tex_uniform` is true, then scale the texture so that
// it covers a 1x1 area of world space rather than the area of the object.
if (params.tex_uniform) {
params.uv_scale.x = 1.0f / (geom.size[0] ? geom.size[0] : 1.0f);
params.uv_scale.y = 1.0f / (geom.size[1] ? geom.size[1] : 1.0f);
params.uv_scale.z = 1.0f / (geom.size[2] ? geom.size[2] : 1.0f);
params.uv_scale[0] = 1.0f / (geom.size[0] ? geom.size[0] : 1.0f);
params.uv_scale[1] = 1.0f / (geom.size[1] ? geom.size[1] : 1.0f);
params.uv_scale[2] = 1.0f / (geom.size[2] ? geom.size[2] : 1.0f);
}
}
}
src/experimental/filament/filament/scene_view.cc
+3 -3
View File
@@ -300,7 +300,7 @@ void SceneView::AddReflectiveRenderable(Renderable* renderable) {
target->Prepare(viewport.width, viewport.height);
if (reflections_enabled_) {
MaterialTextures textures = renderable->GetMaterialTextures();
mjrMaterialTextures textures = renderable->GetMaterialTextures();
textures.reflection = target->GetColorTexture();
renderable->UpdateMaterial(renderable->GetMaterialParams(), textures);
}
@@ -332,7 +332,7 @@ void SceneView::EnableReflections() {
for (int i = 0; i < reflectives_.size(); ++i) {
Renderable* renderable = reflectives_[i];
MaterialTextures textures = renderable->GetMaterialTextures();
mjrMaterialTextures textures = renderable->GetMaterialTextures();
textures.reflection = reflect_targets_[i]->GetColorTexture();
renderable->UpdateMaterial(renderable->GetMaterialParams(), textures);
}
@@ -341,7 +341,7 @@ void SceneView::EnableReflections() {
void SceneView::DisableReflections() {
reflections_enabled_ = false;
for (Renderable* renderable : reflectives_) {
MaterialTextures textures = renderable->GetMaterialTextures();
mjrMaterialTextures textures = renderable->GetMaterialTextures();
textures.reflection = nullptr;
renderable->UpdateMaterial(renderable->GetMaterialParams(), textures);
}