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Use function for applying transforms to multimesh Renderables.

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PiperOrigin-RevId: 902712241
Change-Id: I5bfdab8bce12ffb1a1f030ae0a32a61e9b8157e1
This commit is contained in:
Haroon Qureshi
2026-04-20 10:38:58 -07:00
committed by Copybara-Service
parent 188196603d
commit 8e7787ad09
3 changed files with 156 additions and 119 deletions
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src/experimental/filament/filament/renderable.cc
+18 -11
View File
@@ -135,11 +135,23 @@ void Renderable::InitPartEntity(Part& part) {
}
void Renderable::SetTransform(const Trs& trs) {
transform_ = trs.ToTransform();
filament::TransformManager& tm = GetEngine()->getTransformManager();
for (Part& part : parts_) {
tm.setTransform(tm.getInstance(part.entity), transform_);
if (parts_.empty()) {
transform_ = trs.ToTransform();
return;
}
filament::TransformManager& tm = GetEngine()->getTransformManager();
if (get_transform_fn_) {
for (int i = 0; i < parts_.size(); ++i) {
const mat4f& transform = get_transform_fn_(i, trs);
tm.setTransform(tm.getInstance(parts_[i].entity), transform);
}
} else {
for (Part& part : parts_) {
tm.setTransform(tm.getInstance(part.entity), trs.ToTransform());
}
}
transform_ = tm.getTransform(tm.getInstance(parts_[0].entity));
}
const mat4f& Renderable::GetTransform() const {
@@ -147,23 +159,18 @@ const mat4f& Renderable::GetTransform() const {
}
void Renderable::SetMeshes(std::span<const Mesh*> meshes,
std::span<const mat4f> transforms) {
if (meshes.size() != transforms.size()) {
mju_error("Number of meshes does not match number of transforms.");
}
GetTransformFn get_transform_fn) {
if (!parts_.empty()) {
mju_error("Cannot set meshes for renderable with multiple parts.");
}
filament::TransformManager& tm = GetEngine()->getTransformManager();
get_transform_fn_ = get_transform_fn;
for (int i = 0; i < meshes.size(); ++i) {
Part& part = parts_.emplace_back();
part.mesh = meshes[i];
part.elem_offset = 0;
part.elem_count = part.mesh->GetFilamentIndexBuffer()->getIndexCount();
InitPartEntity(part);
tm.setTransform(tm.getInstance(part.entity), transforms[i]);
}
}
src/experimental/filament/filament/renderable.h
+8 -4
View File
@@ -16,6 +16,7 @@
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_
#include <cstdint>
#include <functional>
#include <span>
#include <vector>
@@ -83,10 +84,13 @@ class Renderable {
// Returns the current transform of the renderable.
const filament::math::mat4f& GetTransform() const;
// Sets multiple meshes for a renderable. Each mesh is assigned a specific
// transform to allow for assembly of compound shapes.
// Sets multiple meshes for a renderable. Users can optionally provide a
// function that will be used to compute the transform for each (sub)mesh
// relative to the transform of the renderable itself. This allows users to
// construct compound (but rigid) objects from multiple meshes.
using GetTransformFn = std::function<filament::math::mat4f(int, const Trs&)>;
void SetMeshes(std::span<const Mesh*> meshes,
std::span<const filament::math::mat4f> transforms);
GetTransformFn get_transform = nullptr);
// Sets the layer mask for the managed filament Entities. Layer masks can be
// used to show/hide the renderable in different views. Returns the previous
@@ -158,7 +162,7 @@ class Renderable {
filament::Scene* assigned_scene_ = nullptr;
std::vector<Part> parts_;
filament::math::mat4f transform_;
GetTransformFn get_transform_fn_;
std::uint8_t priority_ = kDefaultPriority;
std::uint8_t layer_mask_ = kDefaultLayerMask;
std::uint16_t blend_order_ = 0;
src/experimental/filament/filament/scene_geom_util.cc
+130 -104
View File
@@ -103,7 +103,7 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
const mjvScene* scene,
ModelObjects* model_objects) {
std::vector<const Mesh*> meshes;
std::vector<mat4f> transforms;
Renderable::GetTransformFn get_transforms;
Trs trs = {
.translation = ReadFloat3(geom.pos),
@@ -115,12 +115,12 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
case mjGEOM_MESH:
meshes.push_back(GetMesh(model_objects, geom.dataid));
// Ignore size for meshes.
transforms.push_back(mat4f(trs.rotation, trs.translation));
trs.size = float3{1.0f, 1.0f, 1.0f};
break;
case mjGEOM_HFIELD:
meshes.push_back(GetHeightField(model_objects, geom.dataid));
// Ignore size for height fields.
transforms.push_back(mat4f(trs.rotation, trs.translation));
trs.size = float3{1.0f, 1.0f, 1.0f};
break;
case mjGEOM_PLANE: {
meshes.push_back(GetShape(model_objects, ModelObjects::kPlane));
@@ -134,20 +134,16 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
}
// Planes only define an xy size, so set the z-dimension to 1.0f.
trs.size.z = 1.0f;
transforms.push_back(trs.ToTransform());
break;
}
case mjGEOM_SPHERE:
meshes.push_back(GetShape(model_objects, ModelObjects::kSphere));
transforms.push_back(trs.ToTransform());
break;
case mjGEOM_ELLIPSOID:
meshes.push_back(GetShape(model_objects, ModelObjects::kSphere));
transforms.push_back(trs.ToTransform());
break;
case mjGEOM_BOX:
meshes.push_back(GetShape(model_objects, ModelObjects::kBox));
transforms.push_back(trs.ToTransform());
break;
case mjGEOM_CAPSULE: {
// Capsules are a tube with two domes at the ends.
@@ -155,25 +151,31 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
meshes.push_back(GetShape(model_objects, ModelObjects::kDome));
meshes.push_back(GetShape(model_objects, ModelObjects::kDome));
transforms.push_back(trs.ToTransform());
// We apply an inverse scale to the domes to counteract the capsule's
// overall scale so that the domes remain spherical in shape.
const float xz_size = 0.5f * (trs.size.x + trs.size.y);
// Move the first dome to the top of the capsule.
mat4f top = mat4f(trs.rotation, trs.translation);
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{trs.size.x, trs.size.y, xz_size});
transforms.push_back(top);
// Move the second dome to the bottom of the capsule and rotate it 180
// degrees so that it's facing the right way.
mat4f bottom = mat4f(trs.rotation, trs.translation);
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(float3{trs.size.x, trs.size.y, xz_size});
transforms.push_back(bottom);
get_transforms = [](int index, const Trs& trs) {
// We apply an inverse scale to the domes to counteract the capsule's
// overall scale so that the domes remain spherical in shape.
const float xz_size = 0.5f * (trs.size.x + trs.size.y);
if (index == 0) {
return trs.ToTransform();
} else if (index == 1) {
// Move the first dome to the top of the capsule.
mat4f top = mat4f(trs.rotation, trs.translation);
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{trs.size.x, trs.size.y, xz_size});
return top;
} else if (index == 2) {
// Move the second dome to the bottom of the capsule and rotate it 180
// degrees so that it's facing the right way.
mat4f bottom = mat4f(trs.rotation, trs.translation);
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(float3{trs.size.x, trs.size.y, xz_size});
return bottom;
} else {
mju_error("Invalid index for capsule geom: %d (expected [0,2])", index);
return trs.ToTransform();
}
};
break;
}
case mjGEOM_CYLINDER: {
@@ -182,21 +184,28 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
transforms.push_back(trs.ToTransform());
// Move the first disk to the top of the cylinder.
mat4f top = mat4f(trs.rotation, trs.translation);
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(trs.size);
transforms.push_back(top);
// Move the second disk to the bottom of the cylinder. Rotate the disk
// 180 degrees so that the normals point outwards.
mat4f bottom = mat4f(trs.rotation, trs.translation);
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(trs.size);
transforms.push_back(bottom);
get_transforms = [](int index, const Trs& trs) {
if (index == 0) {
return trs.ToTransform();
} else if (index == 1) {
// Move the first disk to the top of the cylinder.
mat4f top = mat4f(trs.rotation, trs.translation);
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(trs.size);
return top;
} else if (index == 2) {
// Move the second disk to the bottom of the cylinder. Rotate the disk
// 180 degrees so that the normals point outwards.
mat4f bottom = mat4f(trs.rotation, trs.translation);
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(trs.size);
return bottom;
} else {
mju_error("Invalid index for cylinder geom: %d (expected [0,2])", index);
return trs.ToTransform();
}
};
break;
}
case mjGEOM_ARROW: {
@@ -205,27 +214,33 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
mat4f base = mat4f(trs.rotation, trs.translation);
base *= mat4f::scaling(float3{1, 1, kArrowScale});
base *= mat4f::translation(float3{0, 0, trs.size.z});
transforms.push_back(base * mat4f::scaling(trs.size));
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(top * mat4f::scaling(trs.size));
mat4f top_disk = base;
top_disk *= mat4f::translation(float3{0, 0, trs.size.z});
top_disk *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
top_disk *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(top_disk * mat4f::scaling(trs.size));
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
transforms.push_back(bottom * mat4f::scaling(trs.size));
get_transforms = [](int index, const Trs& trs) {
mat4f base = mat4f(trs.rotation, trs.translation);
base *= mat4f::scaling(float3{1, 1, kArrowScale});
base *= mat4f::translation(float3{0, 0, trs.size.z});
if (index == 0) {
return base * mat4f::scaling(trs.size);
} else if (index == 1) {
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
return top * mat4f::scaling(trs.size);
} else if (index == 2) {
mat4f top_disk = base;
top_disk *= mat4f::translation(float3{0, 0, trs.size.z});
top_disk *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
top_disk *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
return top_disk * mat4f::scaling(trs.size);
} else if (index == 3) {
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
return bottom * mat4f::scaling(trs.size);
} else {
mju_error("Invalid index for arrow geom: %d (expected [0,3])", index);
return trs.ToTransform();
}
};
break;
}
case mjGEOM_ARROW1: {
@@ -233,19 +248,26 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
meshes.push_back(GetShape(model_objects, ModelObjects::kCone));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
get_transforms = [](int index, const Trs& trs) {
mat4f base = mat4f(trs.rotation, trs.translation);
base *= mat4f::scaling(float3{1, 1, kArrowScale});
base *= mat4f::translation(float3{0, 0, trs.size.z});
transforms.push_back(base * mat4f::scaling(trs.size));
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
transforms.push_back(top * mat4f::scaling(trs.size));
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
transforms.push_back(bottom * mat4f::scaling(trs.size));
if (index == 0) {
return base * mat4f::scaling(trs.size);
} else if (index == 1) {
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
return top * mat4f::scaling(trs.size);
} else if (index == 2) {
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
return bottom * mat4f::scaling(trs.size);
} else {
mju_error("Invalid index for arrow1 geom: %d (expected [0,2])", index);
return trs.ToTransform();
}
};
break;
}
case mjGEOM_ARROW2: {
@@ -255,55 +277,58 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
meshes.push_back(GetShape(model_objects, ModelObjects::kDisk));
mat4f base = mat4f(trs.rotation, trs.translation);
base *= mat4f::scaling(float3{1, 1, kArrowScale});
base *= mat4f::translation(float3{0, 0, trs.size.z});
transforms.push_back(base * mat4f::scaling(trs.size));
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(top * mat4f::scaling(trs.size));
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(bottom * mat4f::scaling(trs.size));
mat4f top_disk = base;
top_disk *= mat4f::translation(float3{0, 0, trs.size.z});
top_disk *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
top_disk *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
transforms.push_back(top_disk * mat4f::scaling(trs.size));
mat4f bottom_disk = base;
bottom_disk *= mat4f::translation(float3{0, 0, -trs.size.z});
transforms.push_back(bottom_disk * mat4f::scaling(trs.size));
get_transforms = [](int index, const Trs& trs) {
mat4f base = mat4f(trs.rotation, trs.translation);
base *= mat4f::scaling(float3{1, 1, kArrowScale});
base *= mat4f::translation(float3{0, 0, trs.size.z});
if (index == 0) {
return base * mat4f::scaling(trs.size);
} else if (index == 1) {
mat4f top = base;
top *= mat4f::translation(float3{0, 0, trs.size.z});
top *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
return top * mat4f::scaling(trs.size);
} else if (index == 2) {
mat4f bottom = base;
bottom *= mat4f::translation(float3{0, 0, -trs.size.z});
bottom *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
bottom *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
return bottom * mat4f::scaling(trs.size);
} else if (index == 3) {
mat4f top_disk = base;
top_disk *= mat4f::translation(float3{0, 0, trs.size.z});
top_disk *= mat4f::rotation(std::numbers::pi, float3{1, 0, 0});
top_disk *= mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
return top_disk * mat4f::scaling(trs.size);
} else if (index == 4) {
mat4f bottom_disk = base;
bottom_disk *= mat4f::translation(float3{0, 0, -trs.size.z});
return bottom_disk * mat4f::scaling(trs.size);
} else {
mju_error("Invalid index for arrow2 geom: %d (expected [0,4])", index);
return trs.ToTransform();
}
};
break;
}
case mjGEOM_LINE:
meshes.push_back(GetShape(model_objects, ModelObjects::kLine));
transforms.push_back(trs.ToTransform());
break;
case mjGEOM_LINEBOX:
meshes.push_back(GetShape(model_objects, ModelObjects::kLineBox));
transforms.push_back(trs.ToTransform());
break;
case mjGEOM_TRIANGLE:
meshes.push_back(GetShape(model_objects, ModelObjects::kTriangle));
transforms.push_back(trs.ToTransform());
break;
case mjGEOM_FLEX:
meshes.push_back(GetSkinFlexMesh(model_objects, geom.objid));
// Flexes are defined in global space.
transforms.push_back(mat4f());
trs = Trs();
break;
case mjGEOM_SKIN:
meshes.push_back(GetSkinFlexMesh(model_objects, geom.objid));
// Skins are defined in global space.
transforms.push_back(mat4f());
trs = Trs();
break;
case mjGEOM_NONE:
case mjGEOM_LABEL:
@@ -315,7 +340,8 @@ static void PrepareGeomMeshes(Renderable& renderable, const mjvGeom& geom,
break;
}
renderable.SetMeshes(meshes, transforms);
renderable.SetMeshes(meshes, get_transforms);
renderable.SetTransform(trs);
}
static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,