Introduce a Texture class that wraps filament::Texture.

PiperOrigin-RevId: 892839636
Change-Id: I3c08fba0a514cfb758ec2842d8510c6d88300874

src/experimental/filament/filament/drawable.cc

@@ -37,6 +37,7 @@
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
@@ -226,7 +227,7 @@ void Drawable::SetDrawMode(Material::DrawMode mode) {
   renderables_.SetMaterialInstance(material_.GetMaterialInstance(mode));
 }
 
-void Drawable::UpdateReflectionTexture(const filament::Texture* tex) {
+void Drawable::UpdateReflectionTexture(const Texture* tex) {
   material_.UpdateReflectionTexture(tex);
 }
 
@@ -422,7 +423,7 @@ void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color,
         } else {
           material_.SetNormalMaterialType(ObjectManager::kPhongColor);
         }
-      } else if (textures.color->getTarget() ==
+      } else if (textures.color->GetFilamentTexture()->getTarget() ==
                 filament::Texture::Sampler::SAMPLER_CUBEMAP) {
         if (color.a < 1.0f) {
           material_.SetNormalMaterialType(ObjectManager::kPhongCubeFade);
@@ -490,7 +491,8 @@ void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color,
   // the programmatic UVs.
 
   if (textures.color) {
-    if (textures.color->getTarget() == filament::Texture::Sampler::SAMPLER_2D) {
+    if (textures.color->GetFilamentTexture()->getTarget() ==
+        filament::Texture::Sampler::SAMPLER_2D) {
       // 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).

src/experimental/filament/filament/drawable.h

@@ -26,6 +26,7 @@
 #include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/renderables.h"
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
@@ -68,7 +69,7 @@ class Drawable {
   // Sets the reflection texture for the drawable. We have a separate setter
   // because we need to render the reflection texture before it can be applied
   // to the material.
-  void UpdateReflectionTexture(const filament::Texture* tex);
+  void UpdateReflectionTexture(const Texture* tex);
 
  private:
   void AddMesh(int data_id);

src/experimental/filament/filament/material.cc

@@ -21,6 +21,7 @@
 #include <filament/TextureSampler.h>
 #include <mujoco/mjmodel.h>
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
@@ -71,7 +72,7 @@ void Material::UpdateTextures(const Textures& textures) {
   UpdateMaterialInstances();
 }
 
-void Material::UpdateReflectionTexture(const filament::Texture* tex) {
+void Material::UpdateReflectionTexture(const Texture* tex) {
   textures_.reflection = tex;
   UpdateMaterialInstances();
 }
@@ -128,70 +129,26 @@ void Material::UpdateMaterialInstances() {
   sampler.setMinFilter(
       filament::TextureSampler::MinFilter::LINEAR_MIPMAP_LINEAR);
 
-  if (material->hasParameter("BaseColor")) {
+  auto TrySetTexture = [&](const char* name, const Texture* texture,
-    if (textures_.color) {
+                        mjtTextureRole role) {
-      instance->setParameter("BaseColor", textures_.color, sampler);
+    if (material->hasParameter(name)) {
-    } else {
+      if (texture) {
-      auto* fallback = object_mgr_->GetFallbackTexture(mjTEXROLE_RGB);
+        instance->setParameter(name, texture->GetFilamentTexture(), sampler);
-      instance->setParameter("BaseColor", fallback, sampler);
+      } else {
+        auto* fallback = object_mgr_->GetFallbackTexture(role);
+        instance->setParameter(name, fallback->GetFilamentTexture(), sampler);
+      }
     }
-  }
+  };
-  if (material->hasParameter("Normal")) {
+
-    if (textures_.normal) {
+  TrySetTexture("BaseColor", textures_.color, mjTEXROLE_RGB);
-      instance->setParameter("Normal", textures_.normal, sampler);
+  TrySetTexture("Normal", textures_.normal, mjTEXROLE_NORMAL);
-    } else {
+  TrySetTexture("Metallic", textures_.metallic, mjTEXROLE_METALLIC);
-      auto* fallback = object_mgr_->GetFallbackTexture(mjTEXROLE_NORMAL);
+  TrySetTexture("Roughness", textures_.roughness, mjTEXROLE_ROUGHNESS);
-      instance->setParameter("Normal", fallback, sampler);
+  TrySetTexture("Occlusion", textures_.occlusion, mjTEXROLE_OCCLUSION);
-    }
+  TrySetTexture("ORM", textures_.orm, mjTEXROLE_ORM);
-  }
+  TrySetTexture("Emissive", textures_.emissive, mjTEXROLE_EMISSIVE);
-  if (material->hasParameter("Metallic")) {
+  TrySetTexture("Reflection", textures_.reflection, mjTEXROLE_USER);
-    if (textures_.metallic) {
-      instance->setParameter("Metallic", textures_.metallic, sampler);
-    } else {
-      auto* fallback = object_mgr_->GetFallbackTexture(mjTEXROLE_METALLIC);
-      instance->setParameter("Metallic", fallback, sampler);
-    }
-  }
-  if (material->hasParameter("Roughness")) {
-    if (textures_.roughness) {
-      instance->setParameter("Roughness", textures_.roughness, sampler);
-    } else {
-      auto* fallback = object_mgr_->GetFallbackTexture(mjTEXROLE_ROUGHNESS);
-      instance->setParameter("Roughness", fallback, sampler);
-    }
-  }
-  if (material->hasParameter("Occlusion")) {
-    if (textures_.occlusion) {
-      instance->setParameter("Occlusion", textures_.occlusion, sampler);
-    } else {
-      auto* fallback = object_mgr_->GetFallbackTexture(mjTEXROLE_OCCLUSION);
-      instance->setParameter("Occlusion", fallback, sampler);
-    }
-  }
-  if (material->hasParameter("ORM")) {
-    if (textures_.orm) {
-      instance->setParameter("ORM", textures_.orm, sampler);
-    } else {
-      auto* fallback = object_mgr_->GetFallbackTexture(mjTEXROLE_ORM);
-      instance->setParameter("ORM", fallback, sampler);
-    }
-  }
-  if (material->hasParameter("Emissive")) {
-    if (textures_.emissive) {
-      instance->setParameter("Emissive", textures_.emissive, sampler);
-    } else {
-      auto* fallback = object_mgr_->GetFallbackTexture(mjTEXROLE_EMISSIVE);
-      instance->setParameter("Emissive", fallback, sampler);
-    }
-  }
-  if (material->hasParameter("Reflection")) {
-    if (textures_.reflection) {
-      instance->setParameter("Reflection", textures_.reflection, sampler);
-    } else {
-      auto* fallback = object_mgr_->GetFallbackTexture(mjTEXROLE_USER);
-      instance->setParameter("Reflection", fallback, sampler);
-    }
-  }
 }
 
 }  // namespace mujoco

src/experimental/filament/filament/material.h

@@ -17,11 +17,11 @@
 
 #include <filament/Engine.h>
 #include <filament/MaterialInstance.h>
-#include <filament/Texture.h>
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
@@ -39,14 +39,14 @@ class Material {
 
   // The textures that can be assigned to the drawable's material.
   struct Textures {
-    const filament::Texture* color = nullptr;
+    const Texture* color = nullptr;
-    const filament::Texture* normal = nullptr;
+    const Texture* normal = nullptr;
-    const filament::Texture* metallic = nullptr;
+    const Texture* metallic = nullptr;
-    const filament::Texture* roughness = nullptr;
+    const Texture* roughness = nullptr;
-    const filament::Texture* occlusion = nullptr;
+    const Texture* occlusion = nullptr;
-    const filament::Texture* orm = nullptr;
+    const Texture* orm = nullptr;
-    const filament::Texture* emissive = nullptr;
+    const Texture* emissive = nullptr;
-    const filament::Texture* reflection = nullptr;
+    const Texture* reflection = nullptr;
   };
 
   // The parameters that can be applied to the drawable's material.
@@ -82,7 +82,7 @@ class Material {
 
   // Update the reflection texture. We do this separately since the reflection
   // texture needs to be rendered before it can be applied to the material.
-  void UpdateReflectionTexture(const filament::Texture* tex);
+  void UpdateReflectionTexture(const Texture* tex);
 
   // Returns the material instance assigned to the draw mode.
   filament::MaterialInstance* GetMaterialInstance(DrawMode mode) {

src/experimental/filament/filament/model_objects.cc

@@ -15,6 +15,7 @@
 #include "experimental/filament/filament/model_objects.h"
 
 #include <array>
+#include <memory>
 #include <utility>
 #include <vector>
 
@@ -80,9 +81,7 @@ ModelObjects::~ModelObjects() {
     engine_->destroy(iter.vertex_buffer);
     engine_->destroy(iter.index_buffer);
   }
-  for (auto& iter : textures_) {
+  textures_.clear();
-    engine_->destroy(iter.second);
-  }
 }
 
 void ModelObjects::UploadMesh(const mjModel* model, int id) {
@@ -126,25 +125,30 @@ void ModelObjects::UploadTexture(const mjModel* model, int id) {
     mju_error("Invalid texture index: %d", id);
   }
 
-  if (auto iter = textures_.find(id); iter != textures_.end()) {
+  const int width = model->tex_width[id];
-    engine_->destroy(iter->second);
+  const int height = model->tex_height[id];
-  }
+  const int num_channels = model->tex_nchannel[id];
+  const int tex_type = model->tex_type[id];
+  const mjtByte* data = model->tex_data + model->tex_adr[id];
+  const mjtColorSpace color_space = (mjtColorSpace)model->tex_colorspace[id];
 
-  const int texture_type = model->tex_type[id];
+  const TextureType type = [&] {
-  if (model->tex_height[id] == 1) {
+    if (height == 1) {
-    const mjtByte* bytes = model->tex_data + model->tex_adr[id];
+      return TextureType::kKtx;
-    const int num_bytes = model->tex_width[id];
+    } else if (tex_type == mjTEXTURE_2D) {
-    textures_[id] =
+      return TextureType::kNormal2d;
-        CreateKtxTexture(engine_, bytes, num_bytes, spherical_harmonics_[id]);
+    } else if (tex_type == mjTEXTURE_CUBE) {
-  } else if (texture_type == mjTEXTURE_2D) {
+      return TextureType::kCube;
-    textures_[id] = CreateTexture(engine_, model, id, TextureType::kNormal2d);
+    } else if (tex_type == mjTEXTURE_SKYBOX) {
-  } else if (texture_type == mjTEXTURE_CUBE) {
+      return TextureType::kCube;
-    textures_[id] = CreateTexture(engine_, model, id, TextureType::kCube);
+    } else {
-  } else if (texture_type == mjTEXTURE_SKYBOX) {
+      mju_error("Unsupported texture type: %d", tex_type);
-    textures_[id] = CreateTexture(engine_, model, id, TextureType::kCube);
+      return TextureType::kNormal2d;
-  } else {
+    }
-    mju_error("Unsupported: Texture type: %d", texture_type);
+  }();
-  }
+
+  textures_[id] = std::make_unique<Texture>(engine_, type, color_space, width,
+                                            height, num_channels, data);
 }
 
 void ModelObjects::UploadHeightField(const mjModel* model, int id) {
@@ -194,12 +198,12 @@ const FilamentBuffers* ModelObjects::GetShapeBuffer(ShapeType shape) const {
   return &shapes_[shape];
 }
 
-const filament::Texture* ModelObjects::GetTexture(int tex_id) const {
+const Texture* ModelObjects::GetTexture(int tex_id) const {
   auto it = textures_.find(tex_id);
-  return it != textures_.end() ? it->second : nullptr;
+  return it != textures_.end() ? it->second.get() : nullptr;
 }
 
-const filament::Texture* ModelObjects::GetTexture(int mat_id, int role) const {
+const Texture* ModelObjects::GetTexture(int mat_id, int role) const {
   if (mat_id < 0 || mat_id >= model_->nmat || role < 0 || role >= mjNTEXROLE) {
     return nullptr;
   }
@@ -210,15 +214,11 @@ const filament::Texture* ModelObjects::GetTexture(int mat_id, int role) const {
 filament::IndirectLight* ModelObjects::CreateIndirectLight(int tex_id,
                                                            float intensity) {
   filament::Texture* texture = nullptr;
+  const Texture::SphericalHarmonics* spherical_harmonics = nullptr;
   auto texture_iter = textures_.find(tex_id);
   if (texture_iter != textures_.end()) {
-    texture = texture_iter->second;
+    texture = texture_iter->second->GetFilamentTexture();
-  }
+    spherical_harmonics = texture_iter->second->GetSphericalHarmonics();
-
-  SphericalHarmonics* spherical_harmonics = nullptr;
-  auto sh_iter = spherical_harmonics_.find(tex_id);
-  if (sh_iter != spherical_harmonics_.end()) {
-    spherical_harmonics = &sh_iter->second;
   }
 
   filament::IndirectLight::Builder builder;
@@ -240,7 +240,7 @@ filament::Skybox* ModelObjects::CreateSkybox() {
   for (auto& iter : textures_) {
     const int texture_type = model_->tex_type[iter.first];
     if (texture_type == mjTEXTURE_SKYBOX) {
-      skybox_texture = iter.second;
+      skybox_texture = iter.second->GetFilamentTexture();
       break;
     }
   }

src/experimental/filament/filament/model_objects.h

@@ -16,6 +16,7 @@
 #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MODEL_OBJECTS_H_
 
 #include <array>
+#include <memory>
 #include <unordered_map>
 #include <vector>
 
@@ -25,6 +26,7 @@
 #include <math/vec3.h>
 #include <mujoco/mjmodel.h>
 #include "experimental/filament/filament/buffer_util.h"
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
@@ -62,8 +64,8 @@ class ModelObjects {
   const FilamentBuffers* GetShapeBuffer(ShapeType shape) const;
   const FilamentBuffers* GetMeshBuffer(int data_id) const;
   const FilamentBuffers* GetHeightFieldBuffer(int hfield_id) const;
-  const filament::Texture* GetTexture(int tex_id) const;
+  const Texture* GetTexture(int tex_id) const;
-  const filament::Texture* GetTexture(int mat_id, int role) const;
+  const Texture* GetTexture(int mat_id, int role) const;
 
   filament::Skybox* CreateSkybox();
   filament::IndirectLight* CreateIndirectLight(int tex_id, float intensity);
@@ -78,8 +80,6 @@ class ModelObjects {
   ModelObjects& operator=(const ModelObjects&) = delete;
 
  private:
-  using SphericalHarmonics = filament::math::float3[9];
-
   const mjModel* model_ = nullptr;
   filament::Engine* engine_ = nullptr;
   std::vector<filament::Skybox*> skyboxes_;
@@ -88,8 +88,7 @@ class ModelObjects {
   std::unordered_map<int, FilamentBuffers> meshes_;
   std::unordered_map<int, FilamentBuffers> convex_hulls_;
   std::unordered_map<int, FilamentBuffers> height_fields_;
-  std::unordered_map<int, filament::Texture*> textures_;
+  std::unordered_map<int, std::unique_ptr<Texture>> textures_;
-  std::unordered_map<int, SphericalHarmonics> spherical_harmonics_;
   float specular_multiplier_ = 0.2f;
   float shininess_multiplier_ = 0.1f;
   float emissive_multiplier_ = 0.3f;

src/experimental/filament/filament/object_manager.cc

@@ -15,6 +15,7 @@
 #include "experimental/filament/filament/object_manager.h"
 
 #include <cstdint>
+#include <memory>
 #include <string>
 #include <string_view>
 
@@ -86,22 +87,27 @@ ObjectManager::ObjectManager(filament::Engine* engine)
   materials_[kUnlitUi] = LoadMaterial("unlit_ui.filamat");
 
   static uint8_t black_rgb[3] = {0, 0, 0};
-  fallback_black_ = Create2dTexture(engine_, 1, 1, 3, black_rgb, false);
+  fallback_black_ = std::make_unique<Texture>(
+      engine_, TextureType::kNormal2d, mjCOLORSPACE_LINEAR, 1, 1, 3, black_rgb);
   static uint8_t white_rgb[3] = {255, 255, 255};
-  fallback_white_ = Create2dTexture(engine_, 1, 1, 3, white_rgb, false);
+  fallback_white_ = std::make_unique<Texture>(
+      engine_, TextureType::kNormal2d, mjCOLORSPACE_LINEAR, 1, 1, 3, white_rgb);
   static uint8_t normal_data[3] = {128, 128, 255};
-  fallback_normal_ = Create2dTexture(engine_, 1, 1, 3, normal_data, false);
+  fallback_normal_ =
+      std::make_unique<Texture>(engine_, TextureType::kNormal2d,
+                                mjCOLORSPACE_LINEAR, 1, 1, 3, normal_data);
   static uint8_t orm_data[3] = {0, 255, 0};
-  fallback_orm_ = Create2dTexture(engine_, 1, 1, 3, orm_data, false);
+  fallback_orm_ = std::make_unique<Texture>(
+      engine_, TextureType::kNormal2d, mjCOLORSPACE_LINEAR, 1, 1, 3, orm_data);
 
-  fallback_textures_[mjTEXROLE_USER] = fallback_black_;
+  fallback_textures_[mjTEXROLE_USER] = fallback_black_.get();
-  fallback_textures_[mjTEXROLE_RGB] = fallback_white_;
+  fallback_textures_[mjTEXROLE_RGB] = fallback_white_.get();
-  fallback_textures_[mjTEXROLE_OCCLUSION] = fallback_white_;
+  fallback_textures_[mjTEXROLE_OCCLUSION] = fallback_white_.get();
-  fallback_textures_[mjTEXROLE_ROUGHNESS] = fallback_white_;
+  fallback_textures_[mjTEXROLE_ROUGHNESS] = fallback_white_.get();
-  fallback_textures_[mjTEXROLE_METALLIC] = fallback_black_;
+  fallback_textures_[mjTEXROLE_METALLIC] = fallback_black_.get();
-  fallback_textures_[mjTEXROLE_NORMAL] = fallback_normal_;
+  fallback_textures_[mjTEXROLE_NORMAL] = fallback_normal_.get();
-  fallback_textures_[mjTEXROLE_EMISSIVE] = fallback_black_;
+  fallback_textures_[mjTEXROLE_EMISSIVE] = fallback_black_.get();
-  fallback_textures_[mjTEXROLE_ORM] = fallback_orm_;
+  fallback_textures_[mjTEXROLE_ORM] = fallback_orm_.get();
 
   LoadFallbackIndirectLight("ibl.ktx", 1.0f);
 }
@@ -110,17 +116,10 @@ ObjectManager::~ObjectManager() {
   if (fallback_indirect_light_) {
     engine_->destroy(fallback_indirect_light_);
   }
-  if (fallback_indirect_light_texture_) {
+  fallback_indirect_light_texture_.reset();
-    engine_->destroy(fallback_indirect_light_texture_);
-  }
   for (auto& iter : materials_) {
     engine_->destroy(iter);
   }
-  // fallback_textures_ maps to these textures.
-  engine_->destroy(fallback_white_);
-  engine_->destroy(fallback_black_);
-  engine_->destroy(fallback_normal_);
-  engine_->destroy(fallback_orm_);
 }
 
 filament::Material* ObjectManager::GetMaterial(MaterialType type) const {
@@ -130,7 +129,7 @@ filament::Material* ObjectManager::GetMaterial(MaterialType type) const {
   return materials_[type];
 }
 
-const filament::Texture* ObjectManager::GetFallbackTexture(
+const Texture* ObjectManager::GetFallbackTexture(
     mjtTextureRole role) const {
   if (role < 0 || role >= mjNTEXROLE) {
     mju_error("Invalid texture role: %d", role);
@@ -144,10 +143,7 @@ filament::IndirectLight* ObjectManager::GetFallbackIndirectLight() {
 
 void ObjectManager::LoadFallbackIndirectLight(
     std::string_view filename, float intensity) {
-  if (fallback_indirect_light_texture_ != nullptr) {
+  fallback_indirect_light_texture_.reset();
-    engine_->destroy(fallback_indirect_light_texture_);
-    fallback_indirect_light_texture_ = nullptr;
-  }
   if (fallback_indirect_light_ != nullptr) {
     engine_->destroy(fallback_indirect_light_);
     fallback_indirect_light_ = nullptr;
@@ -158,18 +154,22 @@ void ObjectManager::LoadFallbackIndirectLight(
     return;
   }
 
-  filament::math::float3 spherical_harmonics[9];
+  fallback_indirect_light_texture_ = std::make_unique<Texture>(
-  fallback_indirect_light_texture_ =
+      engine_, TextureType::kKtx, mjCOLORSPACE_AUTO, asset.size, 1, 1,
-      CreateKtxTexture(engine_, reinterpret_cast<const uint8_t*>(asset.payload),
+      reinterpret_cast<const uint8_t*>(asset.payload));
-                       asset.size, spherical_harmonics);
   if (fallback_indirect_light_texture_ == nullptr) {
     return;
   }
 
+  const Texture::SphericalHarmonics* spherical_harmonics =
+      fallback_indirect_light_texture_->GetSphericalHarmonics();
+
   // Build the indirect light.
   filament::IndirectLight::Builder builder;
-  builder.reflections(fallback_indirect_light_texture_);
+  builder.reflections(fallback_indirect_light_texture_->GetFilamentTexture());
-  builder.irradiance(3, spherical_harmonics);
+  if (spherical_harmonics) {
+    builder.irradiance(3, *spherical_harmonics);
+  }
   builder.intensity(intensity);
   // Rotate the light to match mujoco's Z-up convention.
   builder.rotation(filament::math::mat3f::rotation(

src/experimental/filament/filament/object_manager.h

@@ -16,12 +16,14 @@
 #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_OBJECT_MANAGER_H_
 
 #include <array>
+#include <memory>
 #include <string_view>
 
 #include <filament/Engine.h>
 #include <filament/IndirectLight.h>
 #include <filament/Skybox.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
@@ -60,7 +62,7 @@ class ObjectManager {
   filament::Material* GetMaterial(MaterialType type) const;
 
   // Returns the fallback Texture with the given role.
-  const filament::Texture* GetFallbackTexture(mjtTextureRole role) const;
+  const Texture* GetFallbackTexture(mjtTextureRole role) const;
 
   // Returns the fallback IndirectLight.
   filament::IndirectLight* GetFallbackIndirectLight();
@@ -74,12 +76,12 @@ class ObjectManager {
  private:
   filament::Engine* engine_ = nullptr;
   std::array<filament::Material*, kNumMaterials> materials_;
-  std::array<filament::Texture*, mjNTEXROLE> fallback_textures_;
+  std::array<Texture*, mjNTEXROLE> fallback_textures_;
-  filament::Texture* fallback_white_ = nullptr;
+  std::unique_ptr<Texture> fallback_white_ = nullptr;
-  filament::Texture* fallback_black_ = nullptr;
+  std::unique_ptr<Texture> fallback_black_ = nullptr;
-  filament::Texture* fallback_normal_ = nullptr;
+  std::unique_ptr<Texture> fallback_normal_ = nullptr;
-  filament::Texture* fallback_orm_ = nullptr;
+  std::unique_ptr<Texture> fallback_orm_ = nullptr;
-  filament::Texture* fallback_indirect_light_texture_ = nullptr;
+  std::unique_ptr<Texture> fallback_indirect_light_texture_ = nullptr;
   filament::IndirectLight* fallback_indirect_light_ = nullptr;
 };
 

src/experimental/filament/filament/render_target_util.cc

@@ -14,15 +14,15 @@
 
 #include "experimental/filament/filament/render_target_util.h"
 
+#include <memory>
+
 #include <filament/Engine.h>
 #include <filament/RenderTarget.h>
 #include <filament/Texture.h>
-#include <mujoco/mujoco.h>
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
-
-
 RenderTargetAndTextures::RenderTargetAndTextures(filament::Engine* engine,
                                                  RenderTargetTextureType color,
                                                  RenderTargetTextureType depth)
@@ -41,15 +41,15 @@ void RenderTargetAndTextures::Prepare(int width, int height) {
   height_ = height;
 
   color_texture_ =
-      CreateRenderTargetTexture(engine_, width, height, color_type_);
+      std::make_unique<Texture>(engine_, color_type_, width, height);
   depth_texture_ =
-      CreateRenderTargetTexture(engine_, width, height, depth_type_);
+      std::make_unique<Texture>(engine_, depth_type_, width, height);
 
   filament::RenderTarget::Builder builder;
   builder.texture(filament::RenderTarget::AttachmentPoint::COLOR,
-                  color_texture_);
+                  color_texture_->GetFilamentTexture());
   builder.texture(filament::RenderTarget::AttachmentPoint::DEPTH,
-                  depth_texture_);
+                  depth_texture_->GetFilamentTexture());
   render_target_ = builder.build(*engine_);
 }
 
@@ -58,14 +58,20 @@ void RenderTargetAndTextures::Destroy() {
     engine_->destroy(render_target_);
     render_target_ = nullptr;
   }
-  if (color_texture_) {
+  color_texture_.reset();
-    engine_->destroy(color_texture_);
+  depth_texture_.reset();
-    color_texture_ = nullptr;
+}
-  }
+
-  if (depth_texture_) {
+Texture* RenderTargetAndTextures::GetColorTexture() const {
-    engine_->destroy(depth_texture_);
+  return color_texture_.get();
-    depth_texture_ = nullptr;
+}
-  }
+
+Texture* RenderTargetAndTextures::GetDepthTexture() const {
+  return depth_texture_.get();
+}
+
+filament::RenderTarget* RenderTargetAndTextures::GetRenderTarget() const {
+  return render_target_;
 }
 
 }  // namespace mujoco

src/experimental/filament/filament/render_target_util.h

@@ -15,6 +15,8 @@
 #ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDER_TARGET_UTIL_H_
 #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDER_TARGET_UTIL_H_
 
+#include <memory>
+
 #include <filament/Engine.h>
 #include <filament/Texture.h>
 #include "experimental/filament/filament/texture_util.h"
@@ -39,21 +41,21 @@ class RenderTargetAndTextures {
   void Prepare(int width, int height);
 
   // Returns the color texture.
-  filament::Texture* GetColorTexture() const { return color_texture_; }
+  Texture* GetColorTexture() const;
 
   // Returns the depth texture.
-  filament::Texture* GetDepthTexture() const { return depth_texture_; }
+  Texture* GetDepthTexture() const;
 
   // Returns the render target.
-  filament::RenderTarget* GetRenderTarget() const { return render_target_; }
+  filament::RenderTarget* GetRenderTarget() const;
 
  private:
   void Destroy();
 
   filament::Engine* engine_ = nullptr;
-  filament::Texture* color_texture_ = nullptr;
-  filament::Texture* depth_texture_ = nullptr;
   filament::RenderTarget* render_target_ = nullptr;
+  std::unique_ptr<Texture> color_texture_ = nullptr;
+  std::unique_ptr<Texture> depth_texture_ = nullptr;
   RenderTargetTextureType color_type_;
   RenderTargetTextureType depth_type_;
   int width_ = 0;

src/experimental/filament/filament/texture_util.cc

@@ -23,7 +23,6 @@
 #include <filament/Texture.h>
 #include <image/Ktx1Bundle.h>
 #include <ktxreader/Ktx1Reader.h>
-#include <math/vec3.h>
 #include <mujoco/mujoco.h>
 
 namespace mujoco {
@@ -69,107 +68,24 @@ static filament::Texture::InternalFormat GetTextureInternalFormat(
   }
 }
 
-filament::Texture* Create2dTexture(filament::Engine* engine, int width,
+Texture::Texture(filament::Engine* engine, TextureType texture_type,
-                                   int height, int num_channels,
+                 mjtColorSpace color_space, int width, int height,
-                                   const uint8_t* data, bool is_srgb) {
+                 int num_channels, const uint8_t* data)
-  if (num_channels != 1 && num_channels != 3 && num_channels != 4) {
+    : engine_(engine) {
-    mju_error("Unsupported number of channels: %d", num_channels);
+  const bool is_srgb = color_space == mjCOLORSPACE_SRGB;
-    return nullptr;
+  if (texture_type == TextureType::kCube) {
-  }
+    CreateCubeTexture(width, height, num_channels, data, is_srgb);
-
+  } else if (texture_type == TextureType::kNormal2d) {
-  filament::Texture::Builder builder;
+    Create2dTexture(width, height, num_channels, data, is_srgb);
-  builder.width(width);
+  } else if (texture_type == TextureType::kKtx) {
-  builder.height(height);
+    CreateKtxTexture(data, width * height * num_channels);
-  builder.format(GetTextureInternalFormat(num_channels, is_srgb));
-  builder.sampler(filament::Texture::Sampler::SAMPLER_2D);
-  if (!is_srgb) {
-    builder.usage(filament::Texture::Usage::GEN_MIPMAPPABLE |
-                  filament::Texture::Usage::SAMPLEABLE |
-                  filament::Texture::Usage::UPLOADABLE);
-  }
-  filament::Texture* texture = builder.build(*engine);
-
-  if (data) {
-    const size_t num_bytes = width * height * sizeof(uint8_t) * num_channels;
-    const filament::Texture::Format format = GetTextureFormat(num_channels);
-    texture->setImage(
-        *engine, 0,
-        filament::Texture::PixelBufferDescriptor(
-            data, num_bytes, format, filament::Texture::Type::UBYTE));
-    if (!is_srgb) {
-      texture->generateMipmaps(*engine);
-    }
-  }
-  return texture;
-}
-
-filament::Texture* CreateCubeTexture(filament::Engine* engine, int width,
-                                     int height, int num_channels,
-                                     const uint8_t* data, bool is_srgb) {
-  if (num_channels != 3) {
-    mju_error("Only support RGB cubemaps.");
-    return nullptr;
-  }
-
-  const int kNumFacesPerCube = 6;
-
-  int face_height = height;
-  if (width != height) {
-    if (width * kNumFacesPerCube != height) {
-        mju_error("Cube maps must contain 6 square images.");
-    }
-    face_height = height / kNumFacesPerCube;
-  }
-  if (width != face_height) {
-    mju_error("Cube map faces must be square.");
-  }
-
-  filament::Texture::Builder builder;
-  builder.width(width);
-  builder.height(face_height);
-  builder.format(GetTextureInternalFormat(num_channels, is_srgb));
-  builder.sampler(filament::Texture::Sampler::SAMPLER_CUBEMAP);
-  if (!is_srgb) {
-    builder.usage(filament::Texture::Usage::GEN_MIPMAPPABLE |
-                  filament::Texture::Usage::SAMPLEABLE |
-                  filament::Texture::Usage::UPLOADABLE);
-  }
-  filament::Texture* texture = builder.build(*engine);
-
-  const int face_size = width * face_height * num_channels;
-  const int num_bytes = face_size * kNumFacesPerCube;
-
-  uint8_t* buffer = new uint8_t[num_bytes];
-  auto callback = +[](void* buffer, size_t size, void* user) {
-    delete [] reinterpret_cast<uint8_t*>(buffer);
-  };
-
-  filament::Texture::FaceOffsets offsets(face_size);
-  if (width == height) {
-    // Copy the image to all the faces.
-    for (int i = 0; i < kNumFacesPerCube; ++i) {
-      std::memcpy(buffer + (i * face_size), data, face_size);
-    }
   } else {
-    // Use the cubemap as is.
+    mju_error("Unsupported texture type: %d", static_cast<int>(texture_type));
-    std::memcpy(buffer, data, num_bytes);
   }
-
-  if (data) {
-    filament::Texture::PixelBufferDescriptor desc(
-                          buffer, num_bytes, filament::Texture::Format::RGB,
-                          filament::Texture::Type::UBYTE, callback);
-    texture->setImage(*engine, 0, std::move(desc), offsets);
-    if (!is_srgb) {
-      texture->generateMipmaps(*engine);
-    }
-  }
-  return texture;
 }
 
-filament::Texture* CreateRenderTargetTexture(
+Texture::Texture(filament::Engine* engine, RenderTargetTextureType type,
-    filament::Engine* engine, int width, int height,
+                 int width, int height) : engine_(engine) {
-    RenderTargetTextureType type) {
   filament::Texture::Builder builder;
   builder.width(width);
   builder.height(height);
@@ -198,36 +114,115 @@ filament::Texture* CreateRenderTargetTexture(
     default:
       mju_error("Unknown type: %d", static_cast<int>(type));
   }
-  return builder.build(*engine);
+  texture_ = builder.build(*engine);
 }
 
-filament::Texture* CreateKtxTexture(
+void Texture::Create2dTexture(int width, int height, int num_channels,
-    filament::Engine* engine, const uint8_t* data, int size,
+                              const uint8_t* data, bool is_srgb) {
-    filament::math::float3* spherical_harmonics_out) {
+  if (num_channels != 1 && num_channels != 3 && num_channels != 4) {
+    mju_error("Unsupported number of channels: %d", num_channels);
+    return;
+  }
+
+  filament::Texture::Builder builder;
+  builder.width(width);
+  builder.height(height);
+  builder.format(GetTextureInternalFormat(num_channels, is_srgb));
+  builder.sampler(filament::Texture::Sampler::SAMPLER_2D);
+  if (!is_srgb) {
+    builder.usage(filament::Texture::Usage::GEN_MIPMAPPABLE |
+                  filament::Texture::Usage::SAMPLEABLE |
+                  filament::Texture::Usage::UPLOADABLE);
+  }
+  texture_ = builder.build(*engine_);
+
+  if (data) {
+    const size_t num_bytes = width * height * sizeof(uint8_t) * num_channels;
+    const filament::Texture::Format format = GetTextureFormat(num_channels);
+    texture_->setImage(
+        *engine_, 0,
+        filament::Texture::PixelBufferDescriptor(
+            data, num_bytes, format, filament::Texture::Type::UBYTE));
+    if (!is_srgb) {
+      texture_->generateMipmaps(*engine_);
+    }
+  }
+}
+
+void Texture::CreateCubeTexture(int width, int height, int num_channels,
+                                const uint8_t* data, bool is_srgb) {
+  if (num_channels != 3) {
+    mju_error("Only support RGB cubemaps.");
+    return;
+  }
+
+  const int kNumFacesPerCube = 6;
+
+  int face_height = height;
+  if (width != height) {
+    if (width * kNumFacesPerCube != height) {
+      mju_error("Cube maps must contain 6 square images.");
+    }
+    face_height = height / kNumFacesPerCube;
+  }
+  if (width != face_height) {
+    mju_error("Cube map faces must be square.");
+  }
+
+  filament::Texture::Builder builder;
+  builder.width(width);
+  builder.height(face_height);
+  builder.format(GetTextureInternalFormat(num_channels, is_srgb));
+  builder.sampler(filament::Texture::Sampler::SAMPLER_CUBEMAP);
+  if (!is_srgb) {
+    builder.usage(filament::Texture::Usage::GEN_MIPMAPPABLE |
+                  filament::Texture::Usage::SAMPLEABLE |
+                  filament::Texture::Usage::UPLOADABLE);
+  }
+  texture_ = builder.build(*engine_);
+
+  const int face_size = width * face_height * num_channels;
+  const int num_bytes = face_size * kNumFacesPerCube;
+
+  uint8_t* buffer = new uint8_t[num_bytes];
+  auto callback = +[](void* buffer, size_t size, void* user) {
+    delete [] reinterpret_cast<uint8_t*>(buffer);
+  };
+
+  filament::Texture::FaceOffsets offsets(face_size);
+  if (width == height) {
+    // Copy the image to all the faces.
+    for (int i = 0; i < kNumFacesPerCube; ++i) {
+      std::memcpy(buffer + (i * face_size), data, face_size);
+    }
+  } else {
+    // Use the cubemap as is.
+    std::memcpy(buffer, data, num_bytes);
+  }
+
+  if (data) {
+    filament::Texture::PixelBufferDescriptor desc(
+        buffer, num_bytes, filament::Texture::Format::RGB,
+        filament::Texture::Type::UBYTE, callback);
+    texture_->setImage(*engine_, 0, std::move(desc), offsets);
+    if (!is_srgb) {
+      texture_->generateMipmaps(*engine_);
+    }
+  }
+}
+
+void Texture::CreateKtxTexture(const uint8_t* data, int size) {
   image::Ktx1Bundle* bundle = new image::Ktx1Bundle(data, size);
-  if (spherical_harmonics_out) {
+  has_spherical_harmonics_ = true;
-    bundle->getSphericalHarmonics(spherical_harmonics_out);
+  bundle->getSphericalHarmonics(spherical_harmonics_);
-  }
   const bool is_srgb = false;
-  return ktxreader::Ktx1Reader::createTexture(engine, bundle, is_srgb);
+  texture_ = ktxreader::Ktx1Reader::createTexture(engine_, bundle, is_srgb);
 }
 
-filament::Texture* CreateTexture(filament::Engine* engine, const mjModel* model,
+Texture::~Texture() {
-                                 int id, TextureType texture_type) {
+  if (texture_) {
-  if (id < 0 || id >= model->ntex) {
+    engine_->destroy(texture_);
-    mju_error("Invalid texture index %d", id);
   }
-
-  const int width = model->tex_width[id];
-  const int height = model->tex_height[id];
-  const bool is_srgb = model->tex_colorspace[id] == mjCOLORSPACE_SRGB;
-  const int num_channels = model->tex_nchannel[id];
-  const mjtByte* data = model->tex_data + model->tex_adr[id];
-  filament::Texture* texture =
-      texture_type == TextureType::kNormal2d
-          ? Create2dTexture(engine, width, height, num_channels, data, is_srgb)
-          : CreateCubeTexture(engine, width, height, num_channels, data,
-                              is_srgb);
-  return texture;
 }
+
 }  // namespace mujoco

src/experimental/filament/filament/texture_util.h

@@ -40,30 +40,43 @@ enum class RenderTargetTextureType {
   kReflectionColor,
 };
 
-// Creates a filament Texture for the given 2D texture.
+class Texture {
-filament::Texture* Create2dTexture(filament::Engine* engine, int width,
+ public:
-                                   int height, int num_channels,
+  // Creates a texture with the given data.
-                                   const uint8_t* data, bool is_srgb);
+  Texture(filament::Engine* engine, TextureType texture_type,
+          mjtColorSpace color_space, int width, int height, int num_channels,
+          const uint8_t* data);
 
-// Creates a filament Texture for the given cube texture.
+  // Creates a texture for use with a render target.
-filament::Texture* CreateCubeTexture(filament::Engine* engine, int width,
+  Texture(filament::Engine* engine, RenderTargetTextureType type, int width,
-                                     int height, int num_channels,
+          int height);
-                                     const uint8_t* data, bool is_srgb);
 
-// Creates a filament Texture for the given KTX payload.
+  ~Texture();
-filament::Texture* CreateKtxTexture(
-    filament::Engine* engine, const uint8_t* data, int size,
-    filament::math::float3* spherical_harmonics_out);
 
-// Creates a filament Texture for the given texture in the mjModel.
+  filament::Texture* GetFilamentTexture() const { return texture_; }
-filament::Texture* CreateTexture(filament::Engine* engine, const mjModel* model,
-                                 int id, TextureType texture_type);
 
-// Creates a filament Texture for the given render target.
+  using SphericalHarmonics = filament::math::float3[9];
-filament::Texture* CreateRenderTargetTexture(filament::Engine* engine,
-                                             int width, int height,
-                                             RenderTargetTextureType type);
 
+  const SphericalHarmonics* GetSphericalHarmonics() const {
+    return has_spherical_harmonics_ ? &spherical_harmonics_ : nullptr;
+  }
+
+  Texture(const Texture&) = delete;
+  Texture& operator=(const Texture&) = delete;
+
+ private:
+
+  void Create2dTexture(int width, int height, int num_channels,
+                       const uint8_t* data, bool is_srgb);
+  void CreateCubeTexture(int width, int height, int num_channels,
+                         const uint8_t* data, bool is_srgb);
+  void CreateKtxTexture(const uint8_t* data, int size);
+
+  filament::Engine* engine_ = nullptr;
+  filament::Texture* texture_ = nullptr;
+  SphericalHarmonics spherical_harmonics_;
+  bool has_spherical_harmonics_ = false;
+};
 }  // namespace mujoco
 
 #endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_TEXTURE_UTIL_H_