Move imgui_editor into filament library.

PiperOrigin-RevId: 911808107
Change-Id: I14318b1c7396e2eaf0df9d6afcc5298de01bcfa4

src/experimental/filament/CMakeLists.txt

@@ -32,6 +32,7 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         filament/filament_context.h
         filament/filament_platform_factory.cc
         filament/filament_platform_factory.h
+        filament/imgui_editor.cc
         filament/light.cc
         filament/light.h
         filament/material.cc
@@ -53,8 +54,6 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         filament/texture.h
         compat/imgui_bridge.cc
         compat/imgui_bridge.h
-        compat/imgui_editor.cc
-        compat/imgui_editor.h
         compat/mjr_filament_renderer.cc
         compat/mjr_filament_renderer.h
         compat/model_objects.cc

src/experimental/filament/compat/imgui_editor.h

@@ -1,27 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_EDITOR_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_EDITOR_H_
-
-#include "experimental/filament/compat/scene_bridge.h"
-
-namespace mujoco {
-
-// Generates a ImGui Window for the given scene views.
-void DrawGui(SceneBridge* scene_bridge);
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_EDITOR_H_

src/experimental/filament/compat/mjr_filament_renderer.cc

@@ -24,7 +24,6 @@
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/imgui_bridge.h"
-#include "experimental/filament/compat/imgui_editor.h"
 #include "experimental/filament/compat/scene_bridge.h"
 #include "experimental/filament/filament/filament_context.h"
 #include "experimental/filament/filament/model_util.h"
@@ -185,6 +184,8 @@ uintptr_t MjrFilamentRenderer::UploadGuiImage(uintptr_t tex_id,
   return imgui_bridge_->UploadImage(tex_id, pixels, width, height, bpp);
 }
 
-void MjrFilamentRenderer::UpdateGui() { DrawGui(scene_bridge_.get()); }
+void MjrFilamentRenderer::UpdateGui() {
+  mjrf_DEBUG_drawImguiEditor(scene_bridge_->GetScene());
+}
 
 }  // namespace mujoco

src/experimental/filament/compat/scene_bridge.cc

@@ -32,7 +32,6 @@
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/model_util.h"
-#include "experimental/filament/filament/scene_view.h"
 #include "experimental/filament/render_context_filament.h"
 #include "experimental/filament/render_context_filament_cpp.h"
 
@@ -44,13 +43,10 @@ using filament::math::mat3;
 using filament::math::mat4;
 
 static UniquePtr<mjrTexture> CreateFallbackIndirectLightTexture(
-    mjrfContext* ctx, std::string_view filename = "") {
+    mjrfContext* ctx) {
-  if (filename.empty()) {
-    filename = ObjectManager::kDefaultEnvironmentLight;
-  }
-
   std::unique_ptr<ObjectManager::Asset> asset =
-      FilamentContext::downcast(ctx)->GetObjectManager()->LoadAsset(filename);
+      FilamentContext::downcast(ctx)->GetObjectManager()->LoadAsset(
+          ObjectManager::kDefaultEnvironmentLight);
 
   mjrTextureConfig config;
   mjr_defaultTextureConfig(&config);
@@ -118,31 +114,6 @@ SceneBridge::~SceneBridge() {
   renderables_.clear();
 }
 
-void SceneBridge::SetEnvironmentLight(std::string_view filename,
-                                      float intensity) {
-  for (auto& light : lights_) {
-    if (mjrf_getLightType(light.get()) == mjLIGHT_IMAGE) {
-      mjrf_removeLightFromScene(scene_.get(), light.get());
-      light.reset();
-      break;
-    }
-  }
-  if (fallback_ibl_) {
-    mjrf_removeLightFromScene(scene_.get(), fallback_ibl_.get());
-    fallback_ibl_.reset();
-  }
-
-  fallback_ibl_texture_ = CreateFallbackIndirectLightTexture(ctx_, filename);
-
-  mjrLightParams params;
-  mjr_defaultLightParams(&params);
-  params.type = mjLIGHT_IMAGE;
-  params.texture = fallback_ibl_texture_.get();
-  params.intensity = intensity;
-  fallback_ibl_ = CreateLight(ctx_, params);
-  mjrf_addLightToScene(scene_.get(), fallback_ibl_.get());
-}
-
 std::optional<float3> SceneBridge::ClipFromWorld(const float3& pos) const{
   const float4 clip_pos = clip_from_world_ * float4(pos, 1.0f);
   if (clip_pos.w == 0.0f) {

src/experimental/filament/compat/scene_bridge.h

@@ -37,12 +37,6 @@ class SceneBridge {
   SceneBridge(mjrfContext* ctx, const mjModel* model);
   ~SceneBridge();
 
-  // Updates the environment light using the KTX image at the given path.
-  void SetEnvironmentLight(std::string_view filename, float intensity);
-
-  // Updates the environment light to the fallback light
-  void SetFallbackEnvironmentLight(float intensity);
-
   // Updates the Entities in the filament Scene to match the current mjvScene
   // state.
   void Update(const mjrRect& viewport, const mjvScene* scene);

src/experimental/filament/filament/imgui_editor.cc

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/compat/imgui_editor.h"
 
 #include <algorithm>
 #include <any>
@@ -34,9 +33,9 @@
 #include <math/mathfwd.h>
 #include <math/scalar.h>
 #include <math/vec3.h>
-#include "experimental/filament/compat/scene_bridge.h"
 #include "experimental/filament/filament/color_grading_options.h"
 #include "experimental/filament/filament/scene_view.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
@@ -561,7 +560,7 @@ void DrawCameraGui(SceneView* scene_view) {
   Ui("Direction", &direction);
 }
 
-void DrawIndirectLightGui(SceneBridge* scene_bridge, SceneView* scene_view) {
+void DrawIndirectLightGui(SceneView* scene_view) {
   filament::View* view = scene_view->GetDefaultRenderView();
   auto ibl = view->getScene()->getIndirectLight();
 
@@ -572,12 +571,6 @@ void DrawIndirectLightGui(SceneBridge* scene_bridge, SceneView* scene_view) {
       ibl->setIntensity(intensity);
     }
   }
-
-  static char filename[256];
-  ImGui::InputText("Filename", filename, sizeof(filename));
-  if (ImGui::Button("Load")) {
-    scene_bridge->SetEnvironmentLight(filename, intensity);
-  }
 }
 
 void DrawLightGui(filament::LightManager& lm,
@@ -650,75 +643,79 @@ void DrawLightGui(filament::LightManager& lm,
   }
 }
 
-void DrawGui(SceneBridge* scene_bridge) {
+}  // namespace mujoco
-  SceneView* scene_view = SceneView::downcast(scene_bridge->GetScene());
+
+extern "C" {
+
+void mjrf_DEBUG_drawImguiEditor(mjrScene* scene) {
+  mujoco::SceneView* scene_view = mujoco::SceneView::downcast(scene);
   filament::View* view = scene_view->GetDefaultRenderView();
   filament::Engine* engine = scene_view->GetEngine();
   filament::LightManager& lm = engine->getLightManager();
 
   if (ImGui::TreeNodeEx("Ambient Occlusion")) {
-    DrawAmbientOcclusionGui(scene_view);
+    mujoco::DrawAmbientOcclusionGui(scene_view);
     ImGui::TreePop();
   }
   if (ImGui::TreeNodeEx("Screen Space")) {
-    DrawScreenSpaceGui(scene_view);
+    mujoco::DrawScreenSpaceGui(scene_view);
     ImGui::TreePop();
   }
   if (ImGui::TreeNodeEx("Shadowing")) {
-    DrawShadowingGui(scene_view);
+    mujoco::DrawShadowingGui(scene_view);
     ImGui::TreePop();
   }
   if (ImGui::TreeNodeEx("Post Processing")) {
-    DrawPostProcessingGui(scene_view);
+    mujoco::DrawPostProcessingGui(scene_view);
     if (ImGui::TreeNodeEx("Anti Aliasing (FXAA)")) {
-      DrawFxaaGui(scene_view);
+      mujoco::DrawFxaaGui(scene_view);
       ImGui::TreePop();
     }
     if (ImGui::TreeNodeEx("Anti Aliasing (MSAA)")) {
-      DrawMsaaGui(scene_view);
+      mujoco::DrawMsaaGui(scene_view);
       ImGui::TreePop();
     }
     if (ImGui::TreeNodeEx("Anti Aliasing (Temporal)")) {
-      DrawTaaGui(scene_view);
+      mujoco::DrawTaaGui(scene_view);
       ImGui::TreePop();
     }
     if (ImGui::TreeNodeEx("Bloom")) {
-      DrawBloomGui(scene_view);
+      mujoco::DrawBloomGui(scene_view);
       ImGui::TreePop();
     }
     if (ImGui::TreeNodeEx("Color Grading")) {
-      DrawColorGradingGui(scene_view);
+      mujoco::DrawColorGradingGui(scene_view);
       ImGui::TreePop();
     }
     if (ImGui::TreeNodeEx("Depth of Field")) {
-      DrawDepthOfFieldGui(scene_view);
+      mujoco::DrawDepthOfFieldGui(scene_view);
       ImGui::TreePop();
     }
     if (ImGui::TreeNodeEx("Dithering")) {
-      DrawDitheringGui(scene_view);
+      mujoco::DrawDitheringGui(scene_view);
       ImGui::TreePop();
     }
     if (ImGui::TreeNodeEx("Fog")) {
-      DrawFogGui(scene_view);
+      mujoco::DrawFogGui(scene_view);
       ImGui::TreePop();
     }
     if (ImGui::TreeNodeEx("Vignette")) {
-      DrawVignetteGui(scene_view);
+      mujoco::DrawVignetteGui(scene_view);
       ImGui::TreePop();
     }
     ImGui::TreePop();
   }
   if (ImGui::TreeNodeEx("Visibility Layers")) {
-    DrawVisibleLayersGui(scene_view);
+    mujoco::DrawVisibleLayersGui(scene_view);
     ImGui::TreePop();
   }
   if (ImGui::TreeNodeEx("Camera")) {
-    DrawCameraGui(scene_view);
+    mujoco::DrawCameraGui(scene_view);
     ImGui::TreePop();
   }
   if (ImGui::TreeNodeEx("Lights")) {
     if (ImGui::TreeNodeEx("Indirect (Image-based) Light")) {
-      DrawIndirectLightGui(scene_bridge, scene_view);
+      mujoco::DrawIndirectLightGui(scene_view);
       ImGui::TreePop();
     }
     view->getScene()->forEach([&](utils::Entity entity) {
@@ -732,11 +729,12 @@ void DrawGui(SceneBridge* scene_bridge) {
                                                : " (S)";
       const std::string name = "Light " + std::to_string(entity.getId()) + type;
       if (ImGui::TreeNodeEx(name.c_str())) {
-        DrawLightGui(lm, li);
+        mujoco::DrawLightGui(lm, li);
         ImGui::TreePop();
       }
     });
     ImGui::TreePop();
   }
 }
-}  // namespace mujoco
+
+}  // extern "C"

src/experimental/filament/render_context_filament.h

@@ -562,6 +562,11 @@ mjrFrameHandle mjrf_render(mjrfContext* ctx, const mjrRenderRequest* req,
 // Waits for the rendering to complete for the given frame handle.
 void mjrf_waitForFrame(mjrfContext* ctx, mjrFrameHandle frame);
 
+// Draws an ImGui editor for the given scene, exposing filament-specific
+// settings.
+void mjrf_DEBUG_drawImguiEditor(mjrScene* scene);
+
+
 // Legacy API, to be deprecated.
 
 void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);