Move filament renderer out of experimental into src/render/filament.

Also:
- renames the main header file to mjrfilament.h.
- moves filament_util under a "support" folder.
PiperOrigin-RevId: 930448415
Change-Id: Iad89756aaf1ddf4c3e67e1afc3a13776f71fa20f

CMakeLists.txt

@@ -171,6 +171,7 @@ endif()
 add_subdirectory(src/render/noop)
 
 if(MUJOCO_USE_FILAMENT)
+  add_subdirectory(src/render/filament)
   add_subdirectory(src/experimental/filament)
 endif()
 

src/experimental/filament/CMakeLists.txt

@@ -14,47 +14,13 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-set(MUJOCO_FILAMENT_TARGET_NAME mujoco_filament)
+set(MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME mujoco_filament_experimental)
 
-add_library(${MUJOCO_FILAMENT_TARGET_NAME} STATIC)
+add_library(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME} STATIC)
-target_compile_definitions(${MUJOCO_FILAMENT_TARGET_NAME} PRIVATE MJ_STATIC)
+target_compile_definitions(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME} PRIVATE MJ_STATIC)
 
-target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
+target_sources(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
     PUBLIC
-        render_context_filament.h
-        render_context_filament.cc
-        render_context_filament_cpp.h
-        filament_util.h
-        filament_util.cc
-        filament/builtins.cc
-        filament/builtins.h
-        filament/color_grading_options.cc
-        filament/color_grading_options.h
-        filament/filament_context.cc
-        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_manager.cc
-        filament/material_manager.h
-        filament/mesh.cc
-        filament/mesh.h
-        filament/object_manager.cc
-        filament/object_manager.h
-        filament/outliner.cc
-        filament/outliner.h
-        filament/reflection_manager.cc
-        filament/reflection_manager.h
-        filament/render_target.cc
-        filament/render_target.h
-        filament/renderable.cc
-        filament/renderable.h
-        filament/scene_view.cc
-        filament/scene_view.h
-        filament/texture.cc
-        filament/texture.h
         compat/light_manager.cc
         compat/light_manager.h
         compat/model_objects.cc
@@ -65,107 +31,20 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         compat/scene_geom_util.h
 )
 if(MUJOCO_USE_FILAMENT_MJR_COMPAT)
-    target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
+    target_sources(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
         PUBLIC
             mjr_compat.cc
     )
 endif()
 
-target_include_directories(${MUJOCO_FILAMENT_TARGET_NAME}
+target_include_directories(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
     PUBLIC
         ${PROJECT_SOURCE_DIR}/include
         ${PROJECT_SOURCE_DIR}/src
 )
 
-include(third_party_deps/dear_imgui)
+target_link_libraries(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
-include(third_party_deps/filament)
+    mujoco_filament
-target_link_libraries(${MUJOCO_FILAMENT_TARGET_NAME}
-    dear_imgui
-    filament
-    image       # provided by filament
-    ktxreader   # provided by filament
 )
 
-add_library(mujoco::filament ALIAS ${MUJOCO_FILAMENT_TARGET_NAME})
+add_library(mujoco::filament_experimental ALIAS ${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME})
-
-# The "mujoco::filament" library needs access to some assets (e.g. filament
-# material shaders) in order to do rendering. As such, you must also include
-# the assets under MUJOCO_FILAMENT_ASSETS_DIR in your project. As part of
-# the filament library configuration, you will provide a function that the
-# library will use to load these assets.
-set(ASSETS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/assets")
-set(OUTPUT_ASSETS_DIR "${CMAKE_CURRENT_BINARY_DIR}/assets")
-file(MAKE_DIRECTORY ${OUTPUT_ASSETS_DIR})
-file(COPY
-    "${ASSETS_DIR}/ibl.ktx"
-    DESTINATION ${OUTPUT_ASSETS_DIR}
-)
-
-set(MATC_EXECUTABLE matc)
-set(MATERIAL_FILES
-    pbr.mat
-    pbr_transparent.mat
-    pbr_packed.mat
-    pbr_packed_transparent.mat
-    phong_2d_fade.mat
-    phong_2d.mat
-    phong_2d_reflect.mat
-    phong_2d_uv_fade.mat
-    phong_2d_uv.mat
-    phong_2d_uv_reflect.mat
-    phong_color_fade.mat
-    phong_color.mat
-    phong_color_reflect.mat
-    phong_cube_fade.mat
-    phong_cube.mat
-    phong_cube_reflect.mat
-    outline_composite.mat
-    outline_flatten.mat
-    outline_jumpflood.mat
-    unlit_decor.mat
-    unlit_depth.mat
-    unlit_segmentation.mat
-    unlit_ui.mat
-)
-
-foreach(MATERIAL_FILE ${MATERIAL_FILES})
-    get_filename_component(MATERIAL_NAME ${MATERIAL_FILE} NAME_WE)
-    set(INPUT_FILE "${ASSETS_DIR}/${MATERIAL_FILE}")
-    set(OUTPUT_FILE "${OUTPUT_ASSETS_DIR}/${MATERIAL_NAME}.filamat")
-
-    if(CMAKE_SYSTEM_NAME STREQUAL "Emscripten")
-        set(PRECOMPILED_FILE "${MUJOCO_NATIVE_BUILD_DIR}/src/experimental/filament/assets/${MATERIAL_NAME}.filamat")
-        add_custom_command(
-            OUTPUT ${OUTPUT_FILE}
-            COMMAND ${CMAKE_COMMAND} -E copy
-                ${PRECOMPILED_FILE}
-                ${OUTPUT_FILE}
-            DEPENDS ${PRECOMPILED_FILE}
-            COMMENT "Copying precompiled material ${MATERIAL_NAME}.filamat"
-        )
-    else()
-        add_custom_command(
-            OUTPUT ${OUTPUT_FILE}
-            COMMAND ${MATC_EXECUTABLE}
-                --platform=all
-                --api=vulkan
-                --api=opengl
-                --variant-filter skinning
-                --optimize-size
-                --output ${OUTPUT_FILE}
-                ${INPUT_FILE}
-            DEPENDS ${INPUT_FILE}
-            DEPENDS matc
-            COMMENT "Compiling ${MATERIAL_FILE}"
-        )
-    endif()
-
-    list(APPEND MUJOCO_FILAMENT_ASSET_FILES ${OUTPUT_FILE})
-endforeach()
-
-list(APPEND MUJOCO_FILAMENT_ASSET_FILES "${OUTPUT_ASSETS_DIR}/ibl.ktx")
-
-add_custom_target(mujoco_filament_assets DEPENDS ${MUJOCO_FILAMENT_ASSET_FILES})
-add_dependencies(${MUJOCO_FILAMENT_TARGET_NAME} mujoco_filament_assets)
-
-set(MUJOCO_FILAMENT_ASSETS_DIR ${OUTPUT_ASSETS_DIR})

src/experimental/filament/compat/light_manager.cc

@@ -24,9 +24,9 @@
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/model_objects.h"
-#include "experimental/filament/filament_util.h"
+#include "render/filament/mjrfilament_cpp.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/light_manager.h

@@ -18,8 +18,8 @@
 #include <vector>
 
 #include "experimental/filament/compat/model_objects.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/model_objects.cc

@@ -29,9 +29,9 @@
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament_util.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/model_objects.h

@@ -19,8 +19,8 @@
 
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/scene_bridge.cc

@@ -19,18 +19,18 @@
 #include <utility>
 
 #include <math/TMatHelpers.h>
+#include <math/TVecHelpers.h>
 #include <math/mat4.h>
 #include <math/mathfwd.h>
-#include <math/TVecHelpers.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/light_manager.h"
 #include "experimental/filament/compat/model_objects.h"
 #include "experimental/filament/compat/scene_geom_util.h"
-#include "experimental/filament/filament_util.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/scene_bridge.h

@@ -26,8 +26,8 @@
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/light_manager.h"
 #include "experimental/filament/compat/model_objects.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/scene_geom_util.cc

@@ -22,8 +22,8 @@
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/model_objects.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/scene_geom_util.h

@@ -18,8 +18,8 @@
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/model_objects.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco {
 

src/experimental/filament/mjr_compat.cc

@@ -18,8 +18,8 @@
 
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/scene_bridge.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 // This library implements the entirety of mujoco's mjr API. You can link this
 // library with your application (instead of the "classic" mujoco renderer) to

src/experimental/platform/CMakeLists.txt

@@ -104,6 +104,7 @@ target_link_libraries(${MUJOCO_PLATFORM_TARGET_NAME}
     dear_imgui_stdlib
     implot
     mujoco::filament
+    mujoco::filament_experimental
     webp
     SDL2::SDL2-static
     ${MUJOCO_PLATFORM_RENDER_DEPS}

src/experimental/platform/hal/renderer.cc

@@ -28,12 +28,12 @@
 #include "experimental/platform/hal/egl_utils.h"
 #endif
 #include "experimental/filament/compat/scene_bridge.h"
-#include "experimental/filament/render_context_filament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
 #include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/platform/ux/imgui_bridge.h"
 #include "experimental/platform/ux/imgui_widgets.h"
 #include "experimental/platform/ux/plugin.h"
+#include "render/filament/mjrfilament.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco::platform {
 

src/experimental/platform/hal/renderer.h

@@ -23,10 +23,10 @@
 
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/scene_bridge.h"
-#include "experimental/filament/render_context_filament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
 #include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/platform/ux/imgui_bridge.h"
+#include "render/filament/mjrfilament.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco::platform {
 

src/experimental/platform/ux/imgui_bridge.cc

@@ -25,8 +25,8 @@
 #include <math/mat3.h>
 #include <math/vec3.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco {
 

src/experimental/platform/ux/imgui_bridge.h

@@ -20,8 +20,8 @@
 #include <vector>
 
 #include <imgui.h>
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament_cpp.h"
+#include "render/filament/mjrfilament_cpp.h"
 
 namespace mujoco {
 

src/experimental/studio/CMakeLists.txt

@@ -82,7 +82,7 @@ function(configure_studio_target TARGET_NAME)
             POST_BUILD
             COMMAND ${CMAKE_COMMAND}
                 -E copy_directory
-                    ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../src/experimental/filament/assets
+                    ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/../src/render/filament/assets
                     ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/assets
             COMMENT "Copying Filament assets to build directory"
         )

src/render/filament/CMakeLists.txt

@@ -0,0 +1,157 @@
+# 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
+#
+#     https://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.
+
+cmake_minimum_required(VERSION 3.16)
+
+set(MUJOCO_FILAMENT_TARGET_NAME mujoco_filament)
+
+add_library(${MUJOCO_FILAMENT_TARGET_NAME} STATIC)
+target_compile_definitions(${MUJOCO_FILAMENT_TARGET_NAME} PRIVATE MJ_STATIC)
+
+target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
+    PUBLIC
+        mjrfilament.h
+        mjrfilament.cc
+        mjrfilament_cpp.h
+        core/builtins.cc
+        core/builtins.h
+        core/color_grading_options.cc
+        core/color_grading_options.h
+        core/filament_context.cc
+        core/filament_context.h
+        core/filament_platform_factory.cc
+        core/filament_platform_factory.h
+        core/imgui_editor.cc
+        core/light.cc
+        core/light.h
+        core/material_manager.cc
+        core/material_manager.h
+        core/mesh.cc
+        core/mesh.h
+        core/object_manager.cc
+        core/object_manager.h
+        core/outliner.cc
+        core/outliner.h
+        core/reflection_manager.cc
+        core/reflection_manager.h
+        core/render_target.cc
+        core/render_target.h
+        core/renderable.cc
+        core/renderable.h
+        core/scene_view.cc
+        core/scene_view.h
+        core/texture.cc
+        core/texture.h
+        support/filament_util.h
+        support/filament_util.cc
+)
+
+target_include_directories(${MUJOCO_FILAMENT_TARGET_NAME}
+    PUBLIC
+        ${PROJECT_SOURCE_DIR}/include
+        ${PROJECT_SOURCE_DIR}/src
+)
+
+include(third_party_deps/dear_imgui)
+include(third_party_deps/filament)
+target_link_libraries(${MUJOCO_FILAMENT_TARGET_NAME}
+    dear_imgui
+    filament
+    image       # provided by filament
+    ktxreader   # provided by filament
+)
+
+add_library(mujoco::filament ALIAS ${MUJOCO_FILAMENT_TARGET_NAME})
+
+# The "mujoco::filament" library needs access to some assets (e.g. filament
+# material shaders) in order to do rendering. As such, you must also include
+# the assets under MUJOCO_FILAMENT_ASSETS_DIR in your project. As part of
+# the filament library configuration, you will provide a function that the
+# library will use to load these assets.
+set(ASSETS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/assets")
+set(OUTPUT_ASSETS_DIR "${CMAKE_CURRENT_BINARY_DIR}/assets")
+file(MAKE_DIRECTORY ${OUTPUT_ASSETS_DIR})
+file(COPY
+    "${ASSETS_DIR}/ibl.ktx"
+    DESTINATION ${OUTPUT_ASSETS_DIR}
+)
+
+set(MATC_EXECUTABLE matc)
+set(MATERIAL_FILES
+    pbr.mat
+    pbr_transparent.mat
+    pbr_packed.mat
+    pbr_packed_transparent.mat
+    phong_2d_fade.mat
+    phong_2d.mat
+    phong_2d_reflect.mat
+    phong_2d_uv_fade.mat
+    phong_2d_uv.mat
+    phong_2d_uv_reflect.mat
+    phong_color_fade.mat
+    phong_color.mat
+    phong_color_reflect.mat
+    phong_cube_fade.mat
+    phong_cube.mat
+    phong_cube_reflect.mat
+    outline_composite.mat
+    outline_flatten.mat
+    outline_jumpflood.mat
+    unlit_decor.mat
+    unlit_depth.mat
+    unlit_segmentation.mat
+    unlit_ui.mat
+)
+
+foreach(MATERIAL_FILE ${MATERIAL_FILES})
+    get_filename_component(MATERIAL_NAME ${MATERIAL_FILE} NAME_WE)
+    set(INPUT_FILE "${ASSETS_DIR}/${MATERIAL_FILE}")
+    set(OUTPUT_FILE "${OUTPUT_ASSETS_DIR}/${MATERIAL_NAME}.filamat")
+
+    if(CMAKE_SYSTEM_NAME STREQUAL "Emscripten")
+        set(PRECOMPILED_FILE "${MUJOCO_NATIVE_BUILD_DIR}/src/render/filament/assets/${MATERIAL_NAME}.filamat")
+        add_custom_command(
+            OUTPUT ${OUTPUT_FILE}
+            COMMAND ${CMAKE_COMMAND} -E copy
+                ${PRECOMPILED_FILE}
+                ${OUTPUT_FILE}
+            DEPENDS ${PRECOMPILED_FILE}
+            COMMENT "Copying precompiled material ${MATERIAL_NAME}.filamat"
+        )
+    else()
+        add_custom_command(
+            OUTPUT ${OUTPUT_FILE}
+            COMMAND ${MATC_EXECUTABLE}
+                --platform=all
+                --api=vulkan
+                --api=opengl
+                --variant-filter skinning
+                --optimize-size
+                --output ${OUTPUT_FILE}
+                ${INPUT_FILE}
+            DEPENDS ${INPUT_FILE}
+            DEPENDS matc
+            COMMENT "Compiling ${MATERIAL_FILE}"
+        )
+    endif()
+
+    list(APPEND MUJOCO_FILAMENT_ASSET_FILES ${OUTPUT_FILE})
+endforeach()
+
+list(APPEND MUJOCO_FILAMENT_ASSET_FILES "${OUTPUT_ASSETS_DIR}/ibl.ktx")
+
+add_custom_target(mujoco_filament_assets DEPENDS ${MUJOCO_FILAMENT_ASSET_FILES})
+add_dependencies(${MUJOCO_FILAMENT_TARGET_NAME} mujoco_filament_assets)
+
+set(MUJOCO_FILAMENT_ASSETS_DIR ${OUTPUT_ASSETS_DIR})

src/render/filament/core/builtins.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/builtins.h"
+#include "render/filament/core/builtins.h"
 
 #include <cmath>
 #include <cstddef>
@@ -26,9 +26,9 @@
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
-#include "experimental/filament/filament_util.h"
+#include "render/filament/core/mesh.h"
-#include "experimental/filament/filament/mesh.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 
@@ -169,7 +169,7 @@ class TriangleBuilder : public BuiltinBuilder {
     positions_.emplace_back(1, 0, 0);
     positions_.emplace_back(0, 1, 0);
 
-    orientations_.resize(positions_.size(),  CalculateOrientation({0, 0, 1}));
+    orientations_.resize(positions_.size(), CalculateOrientation({0, 0, 1}));
 
     indices_.reserve(3);
     indices_.emplace_back(0);
@@ -187,13 +187,13 @@ class LineBoxBuilder : public BuiltinBuilder {
 
     positions_.reserve(8);
     positions_.emplace_back(-1.0f, -1.0f, -1.0f);
-    positions_.emplace_back( 1.0f, -1.0f, -1.0f);
+    positions_.emplace_back(1.0f, -1.0f, -1.0f);
-    positions_.emplace_back(-1.0f,  1.0f, -1.0f);
+    positions_.emplace_back(-1.0f, 1.0f, -1.0f);
-    positions_.emplace_back( 1.0f,  1.0f, -1.0f);
+    positions_.emplace_back(1.0f, 1.0f, -1.0f);
-    positions_.emplace_back(-1.0f, -1.0f,  1.0f);
+    positions_.emplace_back(-1.0f, -1.0f, 1.0f);
-    positions_.emplace_back( 1.0f, -1.0f,  1.0f);
+    positions_.emplace_back(1.0f, -1.0f, 1.0f);
-    positions_.emplace_back(-1.0f,  1.0f,  1.0f);
+    positions_.emplace_back(-1.0f, 1.0f, 1.0f);
-    positions_.emplace_back( 1.0f,  1.0f,  1.0f);
+    positions_.emplace_back(1.0f, 1.0f, 1.0f);
 
     orientations_.resize(positions_.size(), {0, 0, 0, 1});
 
@@ -622,7 +622,8 @@ class DomeBuilder : public BuiltinBuilder {
   }
 };
 
-Builtins::Builtins(filament::Engine* engine, int nstack, int nslice, int nquad) {
+Builtins::Builtins(filament::Engine* engine, int nstack, int nslice,
+                   int nquad) {
   line_ = BuiltinBuilder::Create<LineBuilder>(engine);
   plane_ = BuiltinBuilder::Create<PlaneBuilder>(engine, nquad);
   triangle_ = BuiltinBuilder::Create<TriangleBuilder>(engine);

src/render/filament/core/builtins.h

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_BUILTINS_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_BUILTINS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_BUILTINS_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_BUILTINS_H_
 
 #include <memory>
 
 #include <filament/Engine.h>
-#include "experimental/filament/filament/mesh.h"
+#include "render/filament/core/mesh.h"
 
 namespace mujoco {
 
@@ -54,4 +54,4 @@ class Builtins {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_BUILTINS_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_BUILTINS_H_

src/render/filament/core/color_grading_options.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/color_grading_options.h"
+#include "render/filament/core/color_grading_options.h"
 
 #include <memory>
 

src/render/filament/core/color_grading_options.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_COLOR_GRADING_OPTIONS_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_COLOR_GRADING_OPTIONS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_COLOR_GRADING_OPTIONS_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_COLOR_GRADING_OPTIONS_H_
 
 #include <cstdint>
 #include <memory>
@@ -78,4 +78,4 @@ struct ColorGradingOptions {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_COLOR_GRADING_OPTIONS_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_COLOR_GRADING_OPTIONS_H_

src/render/filament/core/filament_context.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/filament_context.h"
+#include "render/filament/core/filament_context.h"
 
 #include <algorithm>
 #include <cstdint>
@@ -37,12 +37,12 @@
 #include <utils/FixedCapacityVector.h>
 #include <utils/compiler.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/filament_platform_factory.h"
+#include "render/filament/core/filament_platform_factory.h"
-#include "experimental/filament/filament/material_manager.h"
+#include "render/filament/core/material_manager.h"
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/object_manager.h"
-#include "experimental/filament/filament/render_target.h"
+#include "render/filament/core/render_target.h"
-#include "experimental/filament/filament/scene_view.h"
+#include "render/filament/core/scene_view.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -96,7 +96,8 @@ mjrfFrameHandle FilamentContext::Render(
 
   material_manager_->BeginFrame();
 
-  std::unordered_map<mjrfScene*, std::vector<const mjrfRenderRequest*>> scene_to_requests;
+  std::unordered_map<mjrfScene*, std::vector<const mjrfRenderRequest*>>
+      scene_to_requests;
   for (const mjrfRenderRequest& request : requests) {
     scene_to_requests[request.scene].push_back(&request);
   }
@@ -131,7 +132,8 @@ mjrfFrameHandle FilamentContext::Render(
     } else {
       if (read_requests.empty()) {
         mju_error(
-            "Rendering to a render target without a read request is pointless.");
+            "Rendering to a render target without a read request is "
+            "pointless.");
       }
 
       const mjrfReadPixelsRequest& read_request = read_requests[0];

src/render/filament/core/filament_context.h

@@ -12,21 +12,21 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_FILAMENT_CONTEXT_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_CONTEXT_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_FILAMENT_CONTEXT_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_CONTEXT_H_
 
 #include <cstdint>
-#include <span>
 #include <memory>
+#include <span>
 
 #include <backend/Platform.h>
 #include <filament/Engine.h>
 #include <filament/Renderer.h>
 #include <filament/SwapChain.h>
 #include <math/vec4.h>
-#include "experimental/filament/filament/material_manager.h"
+#include "render/filament/core/material_manager.h"
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/object_manager.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -61,7 +61,9 @@ class FilamentContext : public mjrfContext {
 
   ObjectManager* GetObjectManager() const { return object_manager_.get(); }
 
-  MaterialManager* GetMaterialManager() const { return material_manager_.get(); }
+  MaterialManager* GetMaterialManager() const {
+    return material_manager_.get();
+  }
 
   static FilamentContext* downcast(mjrfContext* context) {
     return static_cast<FilamentContext*>(context);
@@ -90,4 +92,4 @@ class FilamentContext : public mjrfContext {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_FILAMENT_CONTEXT_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_CONTEXT_H_

src/render/filament/core/filament_platform_factory.cc

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/filament_platform_factory.h"
+#include "render/filament/core/filament_platform_factory.h"
 
 #include <memory>
 
 #include <backend/Platform.h>
 #include <filament/Engine.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 

src/render/filament/core/filament_platform_factory.h

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_FILAMENT_PLATFORM_FACTORY_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_PLATFORM_FACTORY_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_FILAMENT_PLATFORM_FACTORY_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_PLATFORM_FACTORY_H_
 
 #include <memory>
 
-#include "experimental/filament/render_context_filament.h"
 #include <backend/Platform.h>
 #include <filament/Engine.h>
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -42,4 +42,4 @@ FilamentPlatformSetup CreateFilamentPlatform(const mjrFilamentConfig& config);
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_FILAMENT_PLATFORM_FACTORY_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_FILAMENT_PLATFORM_FACTORY_H_

src/render/filament/core/imgui_editor.cc

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
 #include <algorithm>
 #include <any>
 #include <cstdint>
@@ -33,9 +32,9 @@
 #include <math/mathfwd.h>
 #include <math/scalar.h>
 #include <math/vec3.h>
-#include "experimental/filament/filament/color_grading_options.h"
+#include "render/filament/core/color_grading_options.h"
-#include "experimental/filament/filament/scene_view.h"
+#include "render/filament/core/scene_view.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -243,8 +242,8 @@ void DrawAmbientOcclusionGui(SceneView* scene_view) {
     opts.power = std::max(opts.power, 0.0f);
     opts.radius = std::clamp(opts.radius, 0.0f, 10.0f);
     opts.bias = std::clamp(opts.bias, 0.0f, 0.001f);
-    opts.ssct.lightConeRad = std::clamp(opts.ssct.lightConeRad, 0.0f,
+    opts.ssct.lightConeRad =
-                                        filament::math::f::PI / 2.0f);
+        std::clamp(opts.ssct.lightConeRad, 0.0f, filament::math::f::PI / 2.0f);
 
     view->setAmbientOcclusionOptions(opts);
   }
@@ -417,10 +416,9 @@ void DrawColorGradingGui(SceneView* scene_view) {
                 {.step = 0.01f, .fstep = 0.1f});
   changed |= Ui("Contrast", &opts.contrast, {.step = 0.01f, .fstep = 0.1f});
   changed |= Ui("Vibrance", &opts.vibrance, {.step = 0.01f, .fstep = 0.1f});
-  changed |= Ui("Saturation", &opts.saturation,
+  changed |= Ui("Saturation", &opts.saturation, {.step = 0.01f, .fstep = 0.1f});
-                {.step = 0.01f, .fstep = 0.1f});
+  changed |=
-  changed |= Ui("Temperature", &opts.temperature,
+      Ui("Temperature", &opts.temperature, {.step = 0.01f, .fstep = 0.1f});
-                {.step = 0.01f, .fstep = 0.1f});
   changed |= Ui("Tint", &opts.tint, {.step = 0.01f, .fstep = 0.1f});
   changed |= Ui("Out Red", &opts.out_red);
   changed |= Ui("Out Green", &opts.out_green);

src/render/filament/core/light.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/light.h"
+#include "render/filament/core/light.h"
 
 #include <numbers>
 
@@ -25,9 +25,9 @@
 #include <utils/Entity.h>
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament_util.h"
+#include "render/filament/core/texture.h"
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 

src/render/filament/core/light.h

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_LIGHT_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_LIGHT_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_LIGHT_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_LIGHT_H_
 
 #include <filament/Engine.h>
 #include <filament/Scene.h>
 #include <math/vec3.h>
 #include <utils/Entity.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -74,4 +74,4 @@ class Light : public mjrfLight {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_LIGHT_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_LIGHT_H_

src/render/filament/core/material_manager.cc

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/material_manager.h"
+#include "render/filament/core/material_manager.h"
+
 #include <cstddef>
 #include <cstdint>
 #include <functional>
@@ -24,11 +25,11 @@
 #include <filament/TextureSampler.h>
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament_util.h"
+#include "render/filament/core/mesh.h"
-#include "experimental/filament/filament/mesh.h"
+#include "render/filament/core/object_manager.h"
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/texture.h"
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 
@@ -76,9 +77,7 @@ MaterialManager::~MaterialManager() {
   }
 }
 
-void MaterialManager::BeginFrame() {
+void MaterialManager::BeginFrame() { used_keys_.clear(); }
-  used_keys_.clear();
-}
 
 void MaterialManager::EndFrame() {
   if (instances_.size() == used_keys_.size()) {
@@ -229,8 +228,8 @@ filament::MaterialInstance* MaterialManager::GetInstance(MaterialKey key) {
   return it->second;
 }
 
-void MaterialManager::UpdateMaterialInstance(filament::MaterialInstance* instance,
+void MaterialManager::UpdateMaterialInstance(
-                            const mjrfMaterial& material) {
+    filament::MaterialInstance* instance, const mjrfMaterial& material) {
   if (material.scissor[2] != 0 && material.scissor[3] != 0) {
     instance->setScissor(material.scissor[0], material.scissor[1],
                          material.scissor[2], material.scissor[3]);
@@ -311,9 +310,7 @@ void MaterialManager::UpdateMaterialInstance(filament::MaterialInstance* instanc
   TrySetTexture("Reflection", material.reflection_texture, mjTEXROLE_USER);
 }
 
-ObjectManager* MaterialManager::GetObjectManager() const {
+ObjectManager* MaterialManager::GetObjectManager() const { return object_mgr_; }
-  return object_mgr_;
-}
 
 filament::Engine* MaterialManager::GetEngine() const {
   return object_mgr_->GetEngine();

src/render/filament/core/material_manager.h

@@ -12,18 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MATERIAL_MANAGER_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_MATERIAL_MANAGER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MATERIAL_MANAGER_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_MATERIAL_MANAGER_H_
 
 #include <cstdint>
 #include <unordered_map>
 #include <unordered_set>
+
 #include <filament/Engine.h>
 #include <filament/MaterialInstance.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/mesh.h"
+#include "render/filament/core/mesh.h"
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/object_manager.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -85,4 +86,4 @@ class MaterialManager {
 };
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MATERIAL_MANAGER_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_MATERIAL_MANAGER_H_

src/render/filament/core/mesh.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/mesh.h"
+#include "render/filament/core/mesh.h"
 
 #include <algorithm>
 #include <cfloat>
@@ -23,17 +23,17 @@
 #include <mutex>
 #include <utility>
 
+#include <backend/BufferDescriptor.h>
 #include <filament/Box.h>
 #include <filament/Engine.h>
 #include <filament/IndexBuffer.h>
 #include <filament/VertexBuffer.h>
-#include <backend/BufferDescriptor.h>
 #include <math/TVecHelpers.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament_util.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 
@@ -111,9 +111,7 @@ Mesh::Mesh(filament::Engine* engine, const mjrfMeshData& data)
   // If the user has provided a release callback, then we need to ensure we
   // call is when filament is done with the mesh data.
   if (data.release) {
-    shared_state_->callbacks.push_back([=]() {
+    shared_state_->callbacks.push_back([=]() { data.release(data.user_data); });
-      data.release(data.user_data);
-    });
   }
 
   BuildVertexBuffer(data);
@@ -215,7 +213,8 @@ void Mesh::BuildVertexBuffer(const mjrfMeshData& data) {
     }
     vertex_buffer_ = vb_builder.build(*engine_);
     auto* user_data = new std::shared_ptr<SharedState>(shared_state_);
-    vertex_buffer_->setBufferAt(*engine_, 0, {bytes, nbytes, callback, user_data});
+    vertex_buffer_->setBufferAt(*engine_, 0,
+                                {bytes, nbytes, callback, user_data});
   } else {
     // For a non-interleaved vertex buffer, we assign a separate buffer to each
     // attribute.
@@ -248,7 +247,8 @@ void Mesh::BuildVertexBuffer(const mjrfMeshData& data) {
         bytes = BuildOrientationsFromNormals(data.nvertices, attrib);
       }
       auto* user_data = new std::shared_ptr<SharedState>(shared_state_);
-      vertex_buffer_->setBufferAt(*engine_, i, {bytes, nbytes, callback, user_data});
+      vertex_buffer_->setBufferAt(*engine_, i,
+                                  {bytes, nbytes, callback, user_data});
     }
   }
 }
@@ -258,9 +258,8 @@ void Mesh::BuildIndexBuffer(const mjrfMeshData& data) {
     return;
   }
 
-  const int element_size = data.index_type == mjINDEX_TYPE_U16
+  const int element_size =
-                                ? sizeof(uint16_t)
+      data.index_type == mjINDEX_TYPE_U16 ? sizeof(uint16_t) : sizeof(uint32_t);
-                                : sizeof(uint32_t);
   const int num_bytes = data.nindices * element_size;
 
   // If indices == 0 and nindices > 0, then the user is specifying that the
@@ -269,9 +268,7 @@ void Mesh::BuildIndexBuffer(const mjrfMeshData& data) {
   const void* indices = data.indices;
   if (indices == nullptr) {
     std::byte* sequence = new std::byte[num_bytes];
-    shared_state_->callbacks.push_back([=]() {
+    shared_state_->callbacks.push_back([=]() { delete[] sequence; });
-      delete[] sequence;
-    });
 
     if (data.index_type == mjINDEX_TYPE_U16) {
       FillSequence<uint16_t>(sequence, num_bytes);
@@ -296,9 +293,7 @@ void Mesh::BuildIndexBuffer(const mjrfMeshData& data) {
 float4* Mesh::BuildOrientationsFromNormals(int nvertices,
                                            const mjrVertexAttribute& normals) {
   float4* orientations = new float4[nvertices];
-  shared_state_->callbacks.push_back([=]() {
+  shared_state_->callbacks.push_back([=]() { delete[] orientations; });
-    delete[] orientations;
-  });
   const float* normals_ptr = reinterpret_cast<const float*>(normals.bytes);
   for (int i = 0; i < nvertices; ++i) {
     orientations[i] = CalculateOrientation(ReadFloat3(normals_ptr, i));
@@ -359,11 +354,7 @@ bool Mesh::HasVertexAttribute(mjrVertexAttributeUsage attrib) const {
   return it != attributes_.end();
 }
 
-bool Mesh::HasBounds() const {
+bool Mesh::HasBounds() const { return bounds_.has_value(); }
-  return bounds_.has_value();
-}
 
-filament::Box Mesh::GetBounds() const {
+filament::Box Mesh::GetBounds() const { return bounds_.value(); }
-  return bounds_.value();
-}
 }  // namespace mujoco

src/render/filament/core/mesh.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MESH_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_MESH_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MESH_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_MESH_H_
 
 #include <array>
 #include <functional>
@@ -28,7 +28,7 @@
 #include <filament/RenderableManager.h>
 #include <filament/VertexBuffer.h>
 #include <math/vec4.h>
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -60,9 +60,7 @@ class Mesh : public mjrfMesh {
   // Returns the bounds of the mesh.
   filament::Box GetBounds() const;
 
-  static Mesh* downcast(mjrfMesh* mesh) {
+  static Mesh* downcast(mjrfMesh* mesh) { return static_cast<Mesh*>(mesh); }
-    return static_cast<Mesh*>(mesh);
-  }
   static const Mesh* downcast(const mjrfMesh* mesh) {
     return static_cast<const Mesh*>(mesh);
   }
@@ -95,4 +93,4 @@ class Mesh : public mjrfMesh {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MESH_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_MESH_H_

src/render/filament/core/object_manager.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/object_manager.h"
 
 #include <cstdint>
 #include <memory>
@@ -27,7 +27,7 @@
 #include <filament/Texture.h>
 #include <math/vec2.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/builtins.h"
+#include "render/filament/core/builtins.h"
 #include "user/user_resource.h"
 
 namespace mujoco {
@@ -40,7 +40,8 @@ std::string ResolveFilamentAssetPath(const std::string& filename) {
 static filament::Material* LoadMaterial(filament::Engine* engine,
                                         std::string_view filename) {
   const std::string path = ResolveFilamentAssetPath(std::string(filename));
-  mjResource* resource = mju_openResource("", path.c_str(), nullptr, nullptr, 0);
+  mjResource* resource =
+      mju_openResource("", path.c_str(), nullptr, nullptr, 0);
   void* payload = nullptr;
   int size = mju_readResource(resource, const_cast<const void**>(&payload));
   filament::Material::Builder material_builder;
@@ -50,31 +51,39 @@ static filament::Material* LoadMaterial(filament::Engine* engine,
   return material;
 };
 
-ObjectManager::ObjectManager(filament::Engine* engine)
+ObjectManager::ObjectManager(filament::Engine* engine) : engine_(engine) {
-    : engine_(engine) {
   materials_[kPbr] = LoadMaterial(engine, "pbr.filamat");
   materials_[kPbrPacked] = LoadMaterial(engine, "pbr_packed.filamat");
   materials_[kPbrTransparent] = LoadMaterial(engine, "pbr_transparent.filamat");
-  materials_[kPbrPackedTransparent] = LoadMaterial(engine, "pbr_packed_transparent.filamat");
+  materials_[kPbrPackedTransparent] =
+      LoadMaterial(engine, "pbr_packed_transparent.filamat");
   materials_[kPhong2d] = LoadMaterial(engine, "phong_2d.filamat");
   materials_[kPhong2dFade] = LoadMaterial(engine, "phong_2d_fade.filamat");
-  materials_[kPhong2dReflect] = LoadMaterial(engine, "phong_2d_reflect.filamat");
+  materials_[kPhong2dReflect] =
+      LoadMaterial(engine, "phong_2d_reflect.filamat");
   materials_[kPhong2dUv] = LoadMaterial(engine, "phong_2d_uv.filamat");
   materials_[kPhong2dUvFade] = LoadMaterial(engine, "phong_2d_uv_fade.filamat");
-  materials_[kPhong2dUvReflect] = LoadMaterial(engine, "phong_2d_uv_reflect.filamat");
+  materials_[kPhong2dUvReflect] =
+      LoadMaterial(engine, "phong_2d_uv_reflect.filamat");
   materials_[kPhongColor] = LoadMaterial(engine, "phong_color.filamat");
-  materials_[kPhongColorFade] = LoadMaterial(engine, "phong_color_fade.filamat");
+  materials_[kPhongColorFade] =
-  materials_[kPhongColorReflect] = LoadMaterial(engine, "phong_color_reflect.filamat");
+      LoadMaterial(engine, "phong_color_fade.filamat");
+  materials_[kPhongColorReflect] =
+      LoadMaterial(engine, "phong_color_reflect.filamat");
   materials_[kPhongCube] = LoadMaterial(engine, "phong_cube.filamat");
   materials_[kPhongCubeFade] = LoadMaterial(engine, "phong_cube_fade.filamat");
-  materials_[kPhongCubeReflect] = LoadMaterial(engine, "phong_cube_reflect.filamat");
+  materials_[kPhongCubeReflect] =
-  materials_[kUnlitSegmentation] = LoadMaterial(engine, "unlit_segmentation.filamat");
+      LoadMaterial(engine, "phong_cube_reflect.filamat");
+  materials_[kUnlitSegmentation] =
+      LoadMaterial(engine, "unlit_segmentation.filamat");
   materials_[kUnlitDecor] = LoadMaterial(engine, "unlit_decor.filamat");
   materials_[kUnlitDepth] = LoadMaterial(engine, "unlit_depth.filamat");
   materials_[kUnlitUi] = LoadMaterial(engine, "unlit_ui.filamat");
-  materials_[kOutlineComposite] = LoadMaterial(engine, "outline_composite.filamat");
+  materials_[kOutlineComposite] =
+      LoadMaterial(engine, "outline_composite.filamat");
   materials_[kOutlineFlatten] = LoadMaterial(engine, "outline_flatten.filamat");
-  materials_[kOutlineJumpFlood] = LoadMaterial(engine, "outline_jumpflood.filamat");
+  materials_[kOutlineJumpFlood] =
+      LoadMaterial(engine, "outline_jumpflood.filamat");
 
   static uint8_t black_rgb[3] = {0, 0, 0};
   static uint8_t white_rgb[3] = {255, 255, 255};
@@ -160,10 +169,7 @@ void ObjectManager::CreateQuadBuffers() {
   // large triangle is more efficient than a two-triangle quad because it
   // avoids the diagonal edge where pixels might be rasterized twice.)
   static const filament::math::float2 kVertices[3] = {
-      {-1.0f, -1.0f},
+      {-1.0f, -1.0f}, {3.0f, -1.0f}, {-1.0f, 3.0f}};
-      { 3.0f, -1.0f},
-      {-1.0f,  3.0f}
-  };
 
   static const uint16_t kIndices[3] = {0, 1, 2};
 

src/render/filament/core/object_manager.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_OBJECT_MANAGER_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_OBJECT_MANAGER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_OBJECT_MANAGER_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_OBJECT_MANAGER_H_
 
 #include <array>
 #include <cstddef>
@@ -27,7 +27,7 @@
 #include <filament/Skybox.h>
 #include <filament/Texture.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/builtins.h"
+#include "render/filament/core/builtins.h"
 
 namespace mujoco {
 
@@ -104,4 +104,4 @@ class ObjectManager {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_OBJECT_MANAGER_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_OBJECT_MANAGER_H_

src/render/filament/core/outliner.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/outliner.h"
+#include "render/filament/core/outliner.h"
 
 #include <cstdint>
 #include <memory>
@@ -20,8 +20,8 @@
 #include <filament/Camera.h>
 #include <filament/Material.h>
 #include <filament/MaterialInstance.h>
-#include <filament/RenderableManager.h>
 #include <filament/RenderTarget.h>
+#include <filament/RenderableManager.h>
 #include <filament/Scene.h>
 #include <filament/TextureSampler.h>
 #include <filament/View.h>
@@ -29,10 +29,10 @@
 #include <math/vec4.h>
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/object_manager.h"
-#include "experimental/filament/filament/render_target.h"
+#include "render/filament/core/render_target.h"
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/core/texture.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -44,9 +44,7 @@ Outliner::Outliner(ObjectManager* object_mgr, uint8_t layer_mask,
       color_(color),
       thickness_(thickness) {}
 
-Outliner::~Outliner() {
+Outliner::~Outliner() { Reset(); }
-  Reset();
-}
 
 void Outliner::Prepare(int width, int height) {
   if (width == width_ && height == height_) {
@@ -215,8 +213,7 @@ void Outliner::Reset() {
   height_ = 0;
 }
 
-void Outliner::Render(filament::Renderer* renderer,
+void Outliner::Render(filament::Renderer* renderer, filament::View* view,
-                      filament::View* view,
                       filament::RenderTarget* render_target) {
   filament::Viewport viewport = view->getViewport();
   Prepare(viewport.width, viewport.height);

src/render/filament/core/outliner.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_OUTLINER_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_OUTLINER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_OUTLINER_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_OUTLINER_H_
 
 #include <cstdint>
 #include <memory>
@@ -23,8 +23,8 @@
 #include <filament/View.h>
 #include <math/vec4.h>
 #include <utils/Entity.h>
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/object_manager.h"
-#include "experimental/filament/filament/render_target.h"
+#include "render/filament/core/render_target.h"
 
 namespace mujoco {
 
@@ -84,4 +84,4 @@ class Outliner {
 };
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_OUTLINER_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_OUTLINER_H_

src/render/filament/core/reflection_manager.cc

@@ -12,27 +12,25 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/reflection_manager.h"
+#include "render/filament/core/reflection_manager.h"
+
 #include <memory>
 
 #include <filament/Engine.h>
-#include "experimental/filament/filament/render_target.h"
+#include "render/filament/core/render_target.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
 ReflectionManager::ReflectionManager(filament::Engine* engine)
     : engine_(engine) {}
 
-ReflectionManager::~ReflectionManager() {
+ReflectionManager::~ReflectionManager() {}
-}
 
-void ReflectionManager::ClearRenderables() {
+void ReflectionManager::ClearRenderables() { renderables_.clear(); }
-  renderables_.clear();
-}
 
 mjrfTexture* ReflectionManager::Register(mjrfRenderable* renderable, int width,
-                                        int height) {
+                                         int height) {
   if (targets_.size() == renderables_.size()) {
     mjrfRenderTargetConfig config;
     mjrf_defaultRenderTargetConfig(&config);
@@ -46,9 +44,7 @@ mjrfTexture* ReflectionManager::Register(mjrfRenderable* renderable, int width,
   return target->GetColorTexture();
 }
 
-int ReflectionManager::GetNumRenderables() const {
+int ReflectionManager::GetNumRenderables() const { return renderables_.size(); }
-  return renderables_.size();
-}
 
 mjrfRenderable* ReflectionManager::GetRenderable(int index) const {
   return renderables_[index];

src/render/filament/core/reflection_manager.h

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_REFLECTION_MANAGER_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_REFLECTION_MANAGER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_REFLECTION_MANAGER_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_REFLECTION_MANAGER_H_
 
 #include <memory>
 #include <vector>
 
 #include <filament/Engine.h>
-#include "experimental/filament/filament/render_target.h"
+#include "render/filament/core/render_target.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -58,4 +58,4 @@ class ReflectionManager {
 };
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_REFLECTION_MANAGER_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_REFLECTION_MANAGER_H_

src/render/filament/core/render_target.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/render_target.h"
+#include "render/filament/core/render_target.h"
 
 #include <cstddef>
 #include <cstdint>
@@ -22,12 +22,12 @@
 #include <backend/DriverEnums.h>
 #include <backend/PixelBufferDescriptor.h>
 #include <filament/Engine.h>
-#include <filament/Renderer.h>
 #include <filament/RenderTarget.h>
+#include <filament/Renderer.h>
 #include <filament/Texture.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/core/texture.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -39,9 +39,7 @@ RenderTarget::RenderTarget(filament::Engine* engine,
   }
 }
 
-RenderTarget::~RenderTarget() noexcept {
+RenderTarget::~RenderTarget() noexcept { Destroy(); }
-  Destroy();
-}
 
 void RenderTarget::Prepare(int width, int height) {
   if (width == width_ && height == height_) {
@@ -65,7 +63,8 @@ void RenderTarget::Prepare(int width, int height) {
   color_config.format = config_.color_format;
   color_config.color_space = mjCOLORSPACE_LINEAR;
   color_flags.color_attachment = true;
-  color_texture_ = std::make_unique<Texture>(engine_, color_config, color_flags);
+  color_texture_ =
+      std::make_unique<Texture>(engine_, color_config, color_flags);
 
   mjrfTextureConfig depth_config;
   mjrf_defaultTextureConfig(&depth_config);
@@ -76,7 +75,8 @@ void RenderTarget::Prepare(int width, int height) {
   depth_config.format = config_.depth_format;
   depth_config.color_space = mjCOLORSPACE_LINEAR;
   depth_flags.depth_attachment = true;
-  depth_texture_ = std::make_unique<Texture>(engine_, depth_config, depth_flags);
+  depth_texture_ =
+      std::make_unique<Texture>(engine_, depth_config, depth_flags);
 
   filament::RenderTarget::Builder builder;
   builder.texture(filament::RenderTarget::AttachmentPoint::COLOR,
@@ -124,13 +124,9 @@ void RenderTarget::Destroy() {
   depth_texture_.reset();
 }
 
-Texture* RenderTarget::GetColorTexture() const {
+Texture* RenderTarget::GetColorTexture() const { return color_texture_.get(); }
-  return color_texture_.get();
-}
 
-Texture* RenderTarget::GetDepthTexture() const {
+Texture* RenderTarget::GetDepthTexture() const { return depth_texture_.get(); }
-  return depth_texture_.get();
-}
 
 filament::RenderTarget* RenderTarget::GetFilamentRenderTarget() const {
   return render_target_;

src/render/filament/core/render_target.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDER_TARGET_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDER_TARGET_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDER_TARGET_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDER_TARGET_H_
 
 #include <cstddef>
 #include <cstdint>
@@ -21,8 +21,8 @@
 
 #include <filament/Engine.h>
 #include <filament/Texture.h>
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/core/texture.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -75,4 +75,4 @@ class RenderTarget : public mjrfRenderTarget {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDER_TARGET_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDER_TARGET_H_

src/render/filament/core/renderable.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/renderable.h"
+#include "render/filament/core/renderable.h"
 
 #include <cmath>
 #include <cstdint>
@@ -35,12 +35,12 @@
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
 #include "engine/engine_vis_visualize.h"
-#include "experimental/filament/filament_util.h"
+#include "render/filament/core/builtins.h"
-#include "experimental/filament/filament/builtins.h"
+#include "render/filament/core/material_manager.h"
-#include "experimental/filament/filament/material_manager.h"
+#include "render/filament/core/mesh.h"
-#include "experimental/filament/filament/mesh.h"
+#include "render/filament/core/reflection_manager.h"
-#include "experimental/filament/filament/reflection_manager.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 
@@ -127,8 +127,8 @@ void Renderable::InitPartEntity(Part& part) {
   filament::IndexBuffer* index_buffer = part.mesh->GetFilamentIndexBuffer();
 
   filament::RenderableManager::Builder builder(1);
-  builder.geometry(0, part.mesh->GetPrimitiveType(), vertex_buffer, index_buffer,
+  builder.geometry(0, part.mesh->GetPrimitiveType(), vertex_buffer,
-                   part.elem_offset, part.elem_count);
+                   index_buffer, part.elem_offset, part.elem_count);
   if (part.mesh->HasBounds()) {
     builder.boundingBox(part.mesh->GetBounds());
   } else {
@@ -184,9 +184,7 @@ void Renderable::UpdateTransform() {
   transform_ = tm.getTransform(tm.getInstance(parts_[0].entity));
 }
 
-const mat4f& Renderable::GetTransform() const {
+const mat4f& Renderable::GetTransform() const { return transform_; }
-  return transform_;
-}
 
 void Renderable::AppendMesh(const Mesh* mesh) {
   Part& part = parts_.emplace_back();
@@ -232,9 +230,7 @@ void Renderable::UpdateMaterial(const mjrfMaterial& material) {
   material_ = material;
 }
 
-const mjrfMaterial& Renderable::GetMaterial() const {
+const mjrfMaterial& Renderable::GetMaterial() const { return material_; }
-  return material_;
-}
 
 void Renderable::Prepare(std::span<const mjrfRenderRequest*> requests,
                          ReflectionManager* reflection_mgr) {
@@ -383,11 +379,11 @@ void Renderable::BindMaterialInstance(const mjrfRenderRequest& request) {
   draw_queue_.pop_front();
 }
 
-MaterialManager::MaterialKey Renderable::SetMaterialInstance(MaterialManager::MaterialKey key) {
+MaterialManager::MaterialKey Renderable::SetMaterialInstance(
+    MaterialManager::MaterialKey key) {
   MaterialManager::MaterialKey prev = curr_state_.material_key;
   if (key != curr_state_.material_key) {
-    filament::MaterialInstance* instance =
+    filament::MaterialInstance* instance = material_mgr_->GetInstance(key);
-        material_mgr_->GetInstance(key);
     filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (Part& part : parts_) {
       filament::RenderableManager::Instance ri = rm.getInstance(part.entity);
@@ -440,7 +436,8 @@ void Renderable::SetReceiveShadows(bool receive_shadows) {
 
     filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (Part& part : parts_) {
-      rm.setReceiveShadows(rm.getInstance(part.entity), params_.receive_shadows);
+      rm.setReceiveShadows(rm.getInstance(part.entity),
+                           params_.receive_shadows);
     }
   }
 }
@@ -454,12 +451,13 @@ void Renderable::SetWireframe(bool wireframe) {
 
     filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (Part& part : parts_) {
-      filament::VertexBuffer* vertex_buffer = part.mesh->GetFilamentVertexBuffer();
+      filament::VertexBuffer* vertex_buffer =
+          part.mesh->GetFilamentVertexBuffer();
       filament::IndexBuffer* index_buffer = part.mesh->GetFilamentIndexBuffer();
-      rm.setGeometryAt(rm.getInstance(part.entity), 0,
+      rm.setGeometryAt(
-                       wireframe ? kWireframeType : part.mesh->GetPrimitiveType(),
+          rm.getInstance(part.entity), 0,
-                       vertex_buffer, index_buffer, part.elem_offset,
+          wireframe ? kWireframeType : part.mesh->GetPrimitiveType(),
-                       part.elem_count);
+          vertex_buffer, index_buffer, part.elem_offset, part.elem_count);
     }
   }
 }
@@ -509,7 +507,8 @@ void Renderable::SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad) {
           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);
+          mju_error("Invalid index for capsule geom: %d (expected [0,2])",
+                    index);
           return trs.ToTransform();
         }
       };
@@ -538,7 +537,8 @@ void Renderable::SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad) {
           bottom *= mat4f::scaling(trs.size);
           return bottom;
         } else {
-          mju_error("Invalid index for cylinder geom: %d (expected [0,2])", index);
+          mju_error("Invalid index for cylinder geom: %d (expected [0,2])",
+                    index);
           return trs.ToTransform();
         }
       };
@@ -564,7 +564,8 @@ void Renderable::SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad) {
           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});
+          top_disk *=
+              mat4f::scaling(float3{kArrowHeadSize, kArrowHeadSize, 1.0f});
           return top_disk * mat4f::scaling(trs.size);
         } else if (index == 3) {
           mat4f bottom = base;
@@ -583,9 +584,9 @@ void Renderable::SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad) {
       AppendMesh(builtins->Disk());
 
       get_transform_fn_ = [](int index, const Trs& trs) {
-      mat4f base = mat4f(trs.rotation, trs.translation);
+        mat4f base = mat4f(trs.rotation, trs.translation);
-      base *= mat4f::scaling(float3{1, 1, kArrowScale});
+        base *= mat4f::scaling(float3{1, 1, kArrowScale});
-      base *= mat4f::translation(float3{0, 0, trs.size.z});
+        base *= mat4f::translation(float3{0, 0, trs.size.z});
         if (index == 0) {
           return base * mat4f::scaling(trs.size);
         } else if (index == 1) {
@@ -598,7 +599,8 @@ void Renderable::SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad) {
           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);
+          mju_error("Invalid index for arrow1 geom: %d (expected [0,2])",
+                    index);
           return trs.ToTransform();
         }
       };
@@ -625,20 +627,23 @@ void Renderable::SetGeomMesh(mjtGeom type, int nstack, int nslice, int nquad) {
           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});
+          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});
+          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);
+          mju_error("Invalid index for arrow2 geom: %d (expected [0,4])",
+                    index);
           return trs.ToTransform();
         }
       };

src/render/filament/core/renderable.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDERABLE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDERABLE_H_
 
 #include <cstdint>
 #include <deque>
@@ -28,19 +28,19 @@
 #include <math/vec3.h>
 #include <utils/Entity.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/material_manager.h"
+#include "render/filament/core/material_manager.h"
-#include "experimental/filament/filament/mesh.h"
+#include "render/filament/core/mesh.h"
-#include "experimental/filament/filament/reflection_manager.h"
+#include "render/filament/core/reflection_manager.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
 enum LayerMask : uint8_t {
-  kLayerMask_Object  = 0x01 << 1,
+  kLayerMask_Object = 0x01 << 1,
-  kLayerMask_Decor   = 0x01 << 2,
+  kLayerMask_Decor = 0x01 << 2,
   kLayerMask_Outline = 0x01 << 3,
-  kLayerMask_All     = 0xff,
+  kLayerMask_All = 0xff,
-  kLayerMask_None    = 0x00,
+  kLayerMask_None = 0x00,
 };
 
 // A Renderable is effectively two things: a mesh and a material.
@@ -114,7 +114,8 @@ class Renderable : public mjrfRenderable {
   // Binds the material instance for the given render request.
   void BindMaterialInstance(const mjrfRenderRequest& request);
 
-  MaterialManager::MaterialKey SetMaterialInstance(MaterialManager::MaterialKey key);
+  MaterialManager::MaterialKey SetMaterialInstance(
+      MaterialManager::MaterialKey key);
 
   static Renderable* downcast(mjrfRenderable* renderable) {
     return static_cast<Renderable*>(renderable);
@@ -141,7 +142,7 @@ class Renderable : public mjrfRenderable {
     filament::math::float3 size{1.0f, 1.0f, 1.0f};
     filament::math::mat4f ToTransform() const {
       return filament::math::mat4f(rotation, translation) *
-            filament::math::mat4f::scaling(size);
+             filament::math::mat4f::scaling(size);
     }
   };
 
@@ -185,4 +186,4 @@ class Renderable : public mjrfRenderable {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_RENDERABLE_H_

src/render/filament/core/scene_view.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/scene_view.h"
+#include "render/filament/core/scene_view.h"
 
 #include <cstdint>
 #include <memory>
@@ -24,32 +24,32 @@
 #include <filament/LightManager.h>
 #include <filament/Material.h>
 #include <filament/Options.h>
-#include <filament/Renderer.h>
-#include <filament/RenderableManager.h>
 #include <filament/RenderTarget.h>
+#include <filament/RenderableManager.h>
+#include <filament/Renderer.h>
 #include <filament/Skybox.h>
 #include <filament/TransformManager.h>
 #include <filament/View.h>
 #include <filament/Viewport.h>
+#include <math/TVecHelpers.h>
 #include <math/mat4.h>
 #include <math/mathfwd.h>
 #include <math/scalar.h>
-#include <math/TVecHelpers.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/color_grading_options.h"
-#include "experimental/filament/filament/outliner.h"
+#include "render/filament/core/light.h"
-#include "experimental/filament/filament/reflection_manager.h"
+#include "render/filament/core/material_manager.h"
-#include "experimental/filament/filament_util.h"
+#include "render/filament/core/object_manager.h"
-#include "experimental/filament/filament/color_grading_options.h"
+#include "render/filament/core/outliner.h"
-#include "experimental/filament/filament/light.h"
+#include "render/filament/core/reflection_manager.h"
-#include "experimental/filament/filament/material_manager.h"
+#include "render/filament/core/render_target.h"
-#include "experimental/filament/filament/render_target.h"
+#include "render/filament/core/renderable.h"
-#include "experimental/filament/filament/renderable.h"
+#include "render/filament/core/texture.h"
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/mjrfilament.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/support/filament_util.h"
 
 namespace mujoco {
 
@@ -94,8 +94,8 @@ static void SetupCamera(const mjrCamera& cam,
           : 0.5f * aspect_ratio * (cam.frustum_top - cam.frustum_bottom);
   camera->lookAt(cam_pos, cam_at, cam_up);
   camera->setProjection(type, cam.frustum_center - halfwidth,
-                         cam.frustum_center + halfwidth, cam.frustum_bottom,
+                        cam.frustum_center + halfwidth, cam.frustum_bottom,
-                         cam.frustum_top, cam.frustum_near, cam.frustum_far);
+                        cam.frustum_top, cam.frustum_near, cam.frustum_far);
 }
 
 // Sets up the `reflection_camera`'s projection matrix so that it is a
@@ -120,7 +120,8 @@ static void SetupReflectionCamera(const mat4& surface_xform,
   const float3 plane_normal_camera = view_normal;
   const float plane_dist_camera = -dot(plane_normal_camera, view_pos);
   const float4 oblique_plane(plane_normal_camera, plane_dist_camera);
-  const mat4 oblique = CalculateObliqueProjection(src_projection, oblique_plane);
+  const mat4 oblique =
+      CalculateObliqueProjection(src_projection, oblique_plane);
   reflection_camera->setCustomProjection(oblique, near, far);
 }
 
@@ -252,7 +253,8 @@ void SceneView::PrepareToRender(std::span<const mjrfRenderRequest*> requests) {
   }
 }
 
-void SceneView::Render(filament::Renderer* renderer, const mjrfRenderRequest& request) {
+void SceneView::Render(filament::Renderer* renderer,
+                       const mjrfRenderRequest& request) {
   if (request.scene != this) {
     mju_error("Invalid scene for SceneView::Render.");
   }
@@ -348,9 +350,7 @@ void SceneView::SetColorGradingOptions(const ColorGradingOptions& opts) {
   color_grading_options_ = opts;
 }
 
-filament::View* SceneView::GetDefaultRenderView() {
+filament::View* SceneView::GetDefaultRenderView() { return main_view_; }
-  return main_view_;
-}
 
 ColorGradingOptions SceneView::GetColorGradingOptions() const {
   return color_grading_options_;
@@ -424,17 +424,17 @@ void SceneView::Configure(const mjModel* model) {
   fog_opts.enabled =
       ReadElement(model, "filament.fog.enabled", fog_opts.enabled);
   fog_opts.color = ReadElement(model, "filament.fog.color", fog_opts.color);
-  fog_opts.distance = ReadElement(
+  fog_opts.distance =
-      model, "filament.fog.distance", fog_opts.distance);
+      ReadElement(model, "filament.fog.distance", fog_opts.distance);
-  fog_opts.density = ReadElement(
+  fog_opts.density =
-      model, "filament.fog.density", fog_opts.density);
+      ReadElement(model, "filament.fog.density", fog_opts.density);
-  fog_opts.cutOffDistance = ReadElement(
+  fog_opts.cutOffDistance = ReadElement(model, "filament.fog.cutOffDistance",
-      model, "filament.fog.cutOffDistance", fog_opts.cutOffDistance);
+                                        fog_opts.cutOffDistance);
-  fog_opts.maximumOpacity = ReadElement(
+  fog_opts.maximumOpacity = ReadElement(model, "filament.fog.maximumOpacity",
-      model, "filament.fog.maximumOpacity", fog_opts.maximumOpacity);
+                                        fog_opts.maximumOpacity);
   fog_opts.height = ReadElement(model, "filament.fog.height", fog_opts.height);
-  fog_opts.heightFalloff = ReadElement(
+  fog_opts.heightFalloff =
-      model, "filament.fog.heightFalloff", fog_opts.heightFalloff);
+      ReadElement(model, "filament.fog.heightFalloff", fog_opts.heightFalloff);
   fog_opts.inScatteringStart = ReadElement(
       model, "filament.fog.inScatteringStart", fog_opts.inScatteringStart);
   fog_opts.inScatteringSize = ReadElement(

src/render/filament/core/scene_view.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_VIEW_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_SCENE_VIEW_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_VIEW_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_SCENE_VIEW_H_
 
 #include <memory>
 #include <span>
@@ -25,15 +25,15 @@
 #include <filament/Scene.h>
 #include <filament/View.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/color_grading_options.h"
+#include "render/filament/core/color_grading_options.h"
-#include "experimental/filament/filament/light.h"
+#include "render/filament/core/light.h"
-#include "experimental/filament/filament/material_manager.h"
+#include "render/filament/core/material_manager.h"
-#include "experimental/filament/filament/object_manager.h"
+#include "render/filament/core/object_manager.h"
-#include "experimental/filament/filament/outliner.h"
+#include "render/filament/core/outliner.h"
-#include "experimental/filament/filament/renderable.h"
+#include "render/filament/core/reflection_manager.h"
-#include "experimental/filament/filament/reflection_manager.h"
+#include "render/filament/core/renderable.h"
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/core/texture.h"
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -113,4 +113,4 @@ class SceneView : public mjrfScene {
 };
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_VIEW_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_SCENE_VIEW_H_

src/render/filament/core/texture.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/core/texture.h"
 
 #include <cstddef>
 #include <cstdint>
@@ -24,7 +24,7 @@
 #include <image/Ktx1Bundle.h>
 #include <ktxreader/Ktx1Reader.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -67,7 +67,8 @@ static int GetNumChannels(const mjrfTextureConfig& config) {
   }
 }
 
-static filament::Texture::Format GetTextureFormat(const mjrfTextureConfig& config) {
+static filament::Texture::Format GetTextureFormat(
+    const mjrfTextureConfig& config) {
   switch (config.format) {
     case mjPIXEL_FORMAT_R8:
       return filament::Texture::Format::R;
@@ -78,7 +79,7 @@ static filament::Texture::Format GetTextureFormat(const mjrfTextureConfig& confi
     default:
       mju_error("Unsupported format: %d", (int)config.format);
       return filament::Texture::Format::UNUSED;
-    }
+  }
 }
 
 static filament::Texture::InternalFormat GetTextureInternalFormat(
@@ -204,7 +205,7 @@ void Texture::Upload(const mjrfTextureData& data) {
     if (config_.width == config_.height) {
       uint8_t* copy = new uint8_t[num_bytes];
       auto release_callback = +[](void* buffer, size_t size, void* user) {
-        delete [] reinterpret_cast<uint8_t*>(buffer);
+        delete[] reinterpret_cast<uint8_t*>(buffer);
       };
       for (int i = 0; i < kNumFacesPerCube; ++i) {
         std::memcpy(copy + (i * face_size), data.bytes, face_size);

src/render/filament/core/texture.h

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_TEXTURE_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_CORE_TEXTURE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_TEXTURE_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_CORE_TEXTURE_H_
 
 #include <filament/Engine.h>
 #include <filament/Texture.h>
 #include <math/vec3.h>
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 // Functions for creating filament textures.
 namespace mujoco {
@@ -84,4 +84,4 @@ class Texture : public mjrfTexture {
 };
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_TEXTURE_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_CORE_TEXTURE_H_

src/render/filament/mjrfilament.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 #include <array>
 #include <cstdint>
@@ -22,13 +22,13 @@
 #include <math/vec3.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/filament_context.h"
+#include "render/filament/core/filament_context.h"
-#include "experimental/filament/filament/light.h"
+#include "render/filament/core/light.h"
-#include "experimental/filament/filament/mesh.h"
+#include "render/filament/core/mesh.h"
-#include "experimental/filament/filament/render_target.h"
+#include "render/filament/core/render_target.h"
-#include "experimental/filament/filament/renderable.h"
+#include "render/filament/core/renderable.h"
-#include "experimental/filament/filament/scene_view.h"
+#include "render/filament/core/scene_view.h"
-#include "experimental/filament/filament/texture.h"
+#include "render/filament/core/texture.h"
 
 template <int N>
 static void setf(float (&arr)[N], const std::array<float, N>& values) {
@@ -125,7 +125,7 @@ void mjrf_destroyContext(mjrfContext* ctx) {
 }
 
 mjrfTexture* mjrf_createTexture(mjrfContext* ctx,
-                               const mjrfTextureConfig* config) {
+                                const mjrfTextureConfig* config) {
   return new mujoco::Texture(
       mujoco::FilamentContext::downcast(ctx)->GetEngine(), *config);
 }
@@ -161,7 +161,7 @@ void mjrf_destroyLight(mjrfLight* light) {
 }
 
 mjrfRenderable* mjrf_createRenderable(mjrfContext* ctx,
-                                     const mjrfRenderableParams* params) {
+                                      const mjrfRenderableParams* params) {
   return new mujoco::Renderable(
       mujoco::FilamentContext::downcast(ctx)->GetEngine(), *params,
       mujoco::FilamentContext::downcast(ctx)->GetMaterialManager());
@@ -171,8 +171,8 @@ void mjrf_destroyRenderable(mjrfRenderable* renderable) {
   delete mujoco::Renderable::downcast(renderable);
 }
 
-mjrfRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx,
+mjrfRenderTarget* mjrf_createRenderTarget(
-                                         const mjrfRenderTargetConfig* config) {
+    mjrfContext* ctx, const mjrfRenderTargetConfig* config) {
   return new mujoco::RenderTarget(
       mujoco::FilamentContext::downcast(ctx)->GetEngine(), *config);
 }
@@ -232,8 +232,8 @@ void mjrf_setRenderableMesh(mjrfRenderable* renderable, const mjrfMesh* mesh,
 
 void mjrf_setRenderableGeomMesh(mjrfRenderable* renderable, mjtGeom type,
                                 int nstack, int nslice, int nquad) {
-  mujoco::Renderable::downcast(renderable)->SetGeomMesh(type, nstack, nslice,
+  mujoco::Renderable::downcast(renderable)
-                                                        nquad);
+      ->SetGeomMesh(type, nstack, nslice, nquad);
 }
 
 void mjrf_setRenderableMaterial(mjrfRenderable* renderable,
@@ -253,8 +253,7 @@ void mjrf_setRenderableTransform(mjrfRenderable* renderable,
   const filament::math::mat3f frotation{rotation[0], rotation[3], rotation[6],
                                         rotation[1], rotation[4], rotation[7],
                                         rotation[2], rotation[5], rotation[8]};
-  mujoco::Renderable::downcast(renderable)
+  mujoco::Renderable::downcast(renderable)->SetTransform(fposition, frotation);
-      ->SetTransform(fposition, frotation);
 }
 
 void mjrf_setRenderableSize(mjrfRenderable* renderable, const float size[3]) {
@@ -293,7 +292,7 @@ void mjrf_configureSceneFromModel(mjrfScene* scene, const mjModel* model) {
 }
 
 void mjrf_resizeRenderTarget(mjrfRenderTarget* render_target, int width,
-                           int height) {
+                             int height) {
   mujoco::RenderTarget::downcast(render_target)->Prepare(width, height);
 }
 

src/render/filament/mjrfilament.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_H_
 
 #include <cstdint>
 
@@ -478,4 +478,4 @@ void mjrf_DEBUG_drawImguiEditor(mjrfScene* scene);
 }  // extern "C"
 #endif
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_H_

src/render/filament/mjrfilament_cpp.h

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_CPP_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_CPP_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_CPP_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_CPP_H_
 
 #include <memory>
 #include <string>
 
-#include "experimental/filament/render_context_filament.h"
+#include "render/filament/mjrfilament.h"
 
 namespace mujoco {
 
@@ -71,4 +71,4 @@ std::string ResolveFilamentAssetPath(const std::string& filename);
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_CPP_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_CPP_H_

src/render/filament/support/filament_util.cc

@@ -12,15 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament_util.h"
+#include "render/filament/support/filament_util.h"
+
 #include <limits>
 
+#include <math/TVecHelpers.h>
 #include <math/mat3.h>
 #include <math/mat4.h>
 #include <math/quat.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
-#include <math/TVecHelpers.h>
 
 namespace mujoco {
 
@@ -86,7 +87,6 @@ mat4 CalculateObliqueProjection(const mat4& projection, const float4& plane) {
   return res;
 }
 
-
 float4 CalculateOrientation(const float3& normal) {
   float3 tangent;
   float3 bitangent;
@@ -104,19 +104,17 @@ float4 CalculateOrientation(const float3& normal) {
   return float4(orientation.xyz, orientation.w);
 }
 
-float3 CalculateNormal(
+float3 CalculateNormal(const filament::math::float3& p1,
-    const filament::math::float3& p1,
+                       const filament::math::float3& p2,
-    const filament::math::float3& p2,
+                       const filament::math::float3& p3) {
-    const filament::math::float3& p3) {
   const float3 v12 = p2 - p1;
   const float3 v13 = p3 - p1;
   return normalize(cross(v12, v13));
 }
 
-float4 CalculateOrientation(
+float4 CalculateOrientation(const filament::math::float3& p1,
-    const filament::math::float3& p1,
+                            const filament::math::float3& p2,
-    const filament::math::float3& p2,
+                            const filament::math::float3& p3) {
-    const filament::math::float3& p3) {
   return CalculateOrientation(CalculateNormal(p1, p2, p3));
 }
 

src/render/filament/support/filament_util.h

@@ -12,10 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_UTIL_H_
+#ifndef MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_FILAMENT_UTIL_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_UTIL_H_
+#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_FILAMENT_UTIL_H_
 
 #include <string_view>
+
 #include <math/mat3.h>
 #include <math/mat4.h>
 #include <math/vec2.h>
@@ -68,20 +69,18 @@ filament::math::mat4 CalculateObliqueProjection(
     const filament::math::float4& plane);
 
 // Calculates the normal of a triangle given its three vertices.
-filament::math::float3 CalculateNormal(
+filament::math::float3 CalculateNormal(const filament::math::float3& p1,
-    const filament::math::float3& p1,
+                                       const filament::math::float3& p2,
-    const filament::math::float3& p2,
+                                       const filament::math::float3& p3);
-    const filament::math::float3& p3);
 
 // Calculates the orientation of a vertex given just its normal.
 filament::math::float4 CalculateOrientation(
     const filament::math::float3& normal);
 
 // Calculates the orientation of a triangle given its three vertices.
-filament::math::float4 CalculateOrientation(
+filament::math::float4 CalculateOrientation(const filament::math::float3& p1,
-    const filament::math::float3& p1,
+                                            const filament::math::float3& p2,
-    const filament::math::float3& p2,
+                                            const filament::math::float3& p3);
-    const filament::math::float3& p3);
 
 // Reads a value with the given name from the mjModel's data sections. The
 // default_value is returned if the named element is not found.
@@ -130,4 +129,4 @@ T ReadElement(const mjModel* model, const char* name, T default_value = T()) {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_UTIL_H_
+#endif  // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_FILAMENT_UTIL_H_