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Make wireframe rendering a draw mode.

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PiperOrigin-RevId: 916042943
Change-Id: Ifbf0033bfc0607c7808d90423648deb0296056a3
This commit is contained in:
Haroon Qureshi
2026-05-15 09:30:22 -07:00
committed by Copybara-Service
parent 093b92acc1
commit 99b01b9f87
7 changed files with 47 additions and 47 deletions
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src/experimental/filament/compat/mjr_filament_renderer.cc
+5
View File
@@ -59,7 +59,10 @@ void MjrFilamentRenderer::Render(const mjrRect& viewport,
reqs[0].draw_mode = mjDRAW_MODE_SEGMENTATION;
} else if (render_flags_[mjRND_DEPTH]) {
reqs[0].draw_mode = mjDRAW_MODE_DEPTH;
} else if (render_flags_[mjRND_WIREFRAME]) {
reqs[0].draw_mode = mjDRAW_MODE_WIREFRAME;
}
reqs[0].camera = scene_bridge_->GetCamera();
reqs[0].viewport = viewport;
reqs[0].enable_shadows = render_flags_[mjRND_SHADOW];
@@ -109,6 +112,8 @@ void MjrFilamentRenderer::ReadPixels(mjrRect viewport, unsigned char* rgb,
reqs[0].draw_mode = mjDRAW_MODE_SEGMENTATION;
} else if (render_flags_[mjRND_DEPTH]) {
reqs[0].draw_mode = mjDRAW_MODE_DEPTH;
} else if (render_flags_[mjRND_WIREFRAME]) {
reqs[0].draw_mode = mjDRAW_MODE_WIREFRAME;
}
reqs[0].camera = scene_bridge_->GetCamera();
reqs[0].viewport = viewport;
src/experimental/filament/compat/scene_geom_util.cc
-2
View File
@@ -191,8 +191,6 @@ static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
if (geom.category == mjCAT_DECOR) {
mjrf_setRenderableCastShadows(renderable, false);
mjrf_setRenderableReceiveShadows(renderable, false);
} else {
mjrf_setRenderableWireframe(renderable, render_flags[mjRND_WIREFRAME]);
}
if (geom.matid >= 0 && geom.matid < model->nmat) {
src/experimental/filament/filament/renderable.cc
+5 -2
View File
@@ -210,8 +210,10 @@ void Renderable::UpdateMaterial(const mjrMaterial& material) {
const Mesh* mesh = !parts_.empty() ? parts_[0].mesh : nullptr;
AssignMaterial(mjDRAW_MODE_COLOR, GetMaterialType(material_, mesh));
const ObjectManager::MaterialType type = GetMaterialType(material, mesh);
AssignMaterial(mjDRAW_MODE_COLOR, type);
if (!material_.decor_ux) {
AssignMaterial(mjDRAW_MODE_WIREFRAME, type);
AssignMaterial(mjDRAW_MODE_DEPTH, ObjectManager::kUnlitDepth);
AssignMaterial(mjDRAW_MODE_SEGMENTATION, ObjectManager::kUnlitSegmentation);
}
@@ -221,7 +223,6 @@ void Renderable::UpdateMaterial(const mjrMaterial& material) {
UpdateMaterialInstance(instances_[i], material_, object_mgr_);
}
}
SetDrawMode(draw_mode_);
}
void Renderable::AssignMaterial(mjrDrawMode mode,
@@ -257,6 +258,8 @@ void Renderable::SetDrawMode(mjrDrawMode mode) {
mode = mjDRAW_MODE_COLOR;
}
SetWireframe(mode == mjDRAW_MODE_WIREFRAME);
filament::MaterialInstance* instance = instances_[static_cast<int>(mode)];
if (instance) {
filament::RenderableManager& rm = GetEngine()->getRenderableManager();
src/experimental/filament/filament/scene_view.cc
+32 -34
View File
@@ -127,12 +127,16 @@ SceneView::SceneView(filament::Engine* engine, const mjrSceneParams& params)
camera_ = engine->createCamera(utils::EntityManager::get().create());
reflect_camera_ = engine->createCamera(utils::EntityManager::get().create());
for (auto& view : views_) {
view = engine->createView();
view->setScene(scene_);
view->setCamera(camera_);
view->setVisibleLayers(0xff, params.layer_mask);
}
main_view_ = engine->createView();
main_view_->setScene(scene_);
main_view_->setCamera(camera_);
main_view_->setVisibleLayers(0xff, params.layer_mask);
depth_segment_view_ = engine->createView();
depth_segment_view_->setScene(scene_);
depth_segment_view_->setCamera(camera_);
depth_segment_view_->setVisibleLayers(0xff, params.layer_mask);
depth_segment_view_->setPostProcessingEnabled(false);
reflect_view_ = engine->createView();
reflect_view_->setScene(scene_);
@@ -142,13 +146,8 @@ SceneView::SceneView(filament::Engine* engine, const mjrSceneParams& params)
reflect_view_->setFrontFaceWindingInverted(true);
reflect_view_->setVisibleLayers(0xff, params.reflection_layer_mask);
// Disable post processing for the depth and segmentation views to preserve
// the values.
views_[mjDRAW_MODE_DEPTH]->setPostProcessingEnabled(false);
views_[mjDRAW_MODE_SEGMENTATION]->setPostProcessingEnabled(false);
// Rotate the fog to align with mujoco's +Z up space.
auto fog = views_[mjDRAW_MODE_COLOR]->getFogEntity();
auto fog = main_view_->getFogEntity();
auto& tm = engine->getTransformManager();
tm.create(fog);
tm.setTransform(tm.getInstance(fog),
@@ -176,9 +175,8 @@ SceneView::~SceneView() {
engine_->destroy(color_grading_);
}
engine_->destroy(scene_);
for (auto& view : views_) {
engine_->destroy(view);
}
engine_->destroy(depth_segment_view_);
engine_->destroy(main_view_);
}
void SceneView::AddToScene(Light* light) {
@@ -237,12 +235,10 @@ void SceneView::Render(filament::Renderer* renderer, const mjrRenderRequest& req
DisableReflections();
}
filament::Viewport viewport(request.viewport.left, request.viewport.bottom,
request.viewport.width, request.viewport.height);
for (auto& view : views_) {
view->setViewport(viewport);
}
main_view_->setViewport(viewport);
depth_segment_view_->setViewport(viewport);
reflect_view_->setViewport(viewport);
SetupCamera(request.camera, viewport, camera_);
@@ -251,7 +247,11 @@ void SceneView::Render(filament::Renderer* renderer, const mjrRenderRequest& req
iter->SetDrawMode(request.draw_mode);
}
filament::View* view = views_[static_cast<int>(request.draw_mode)];
filament::View* view = main_view_;
if (request.draw_mode == mjDRAW_MODE_DEPTH ||
request.draw_mode == mjDRAW_MODE_SEGMENTATION) {
view = depth_segment_view_;
}
view->setShadowingEnabled(request.enable_shadows);
view->setPostProcessingEnabled(request.enable_post_processing);
@@ -328,7 +328,7 @@ void SceneView::SetColorGradingOptions(const ColorGradingOptions& opts) {
auto color_grading = ToBuilder(color_grading_options_)
.toneMapper(tone_mapper.get())
.build(*GetEngine());
views_[mjDRAW_MODE_COLOR]->setColorGrading(color_grading);
main_view_->setColorGrading(color_grading);
if (color_grading_) {
GetEngine()->destroy(color_grading_);
}
@@ -364,7 +364,7 @@ void SceneView::DisableReflections() {
}
filament::View* SceneView::GetDefaultRenderView() {
return views_[mjDRAW_MODE_COLOR];
return main_view_;
}
ColorGradingOptions SceneView::GetColorGradingOptions() const {
@@ -372,8 +372,6 @@ ColorGradingOptions SceneView::GetColorGradingOptions() const {
}
void SceneView::Configure(const mjModel* model) {
filament::View* view = views_[mjDRAW_MODE_COLOR];
auto cg = color_grading_options_;
cg.exposure = ReadElement(model, "filament.cg.exposure", cg.exposure);
cg.contrast = ReadElement(model, "filament.cg.contrast", cg.contrast);
@@ -415,7 +413,7 @@ void SceneView::Configure(const mjModel* model) {
}
SetColorGradingOptions(cg);
auto ao = view->getAmbientOcclusionOptions();
auto ao = main_view_->getAmbientOcclusionOptions();
ao.enabled = ReadElement(model, "filament.ao.enabled", true);
ao.bentNormals = ReadElement(model, "filament.ao.bent_normals", false);
ao.ssct.enabled = ReadElement(model, "filament.ao.ssct", ao.ssct.enabled);
@@ -427,17 +425,17 @@ void SceneView::Configure(const mjModel* model) {
filament::QualityLevel::ULTRA);
ao.bilateralThreshold =
ReadElement(model, "filament.ao.bilateral_threshold", 0.5f);
view->setAmbientOcclusionOptions(ao);
main_view_->setAmbientOcclusionOptions(ao);
auto msaa = view->getMultiSampleAntiAliasingOptions();
auto msaa = main_view_->getMultiSampleAntiAliasingOptions();
msaa.enabled = ReadElement(model, "filament.msaa.enabled", true);
view->setMultiSampleAntiAliasingOptions(msaa);
main_view_->setMultiSampleAntiAliasingOptions(msaa);
auto shadow_type = view->getShadowType();
auto shadow_type = main_view_->getShadowType();
shadow_type = ReadElement(model, "filament.shadows.type", shadow_type);
view->setShadowType(shadow_type);
main_view_->setShadowType(shadow_type);
auto fog_opts = view->getFogOptions();
auto fog_opts = main_view_->getFogOptions();
fog_opts.enabled =
ReadElement(model, "filament.fog.enabled", fog_opts.enabled);
fog_opts.color = ReadElement(model, "filament.fog.color", fog_opts.color);
@@ -456,9 +454,9 @@ void SceneView::Configure(const mjModel* model) {
model, "filament.fog.inScatteringStart", fog_opts.inScatteringStart);
fog_opts.inScatteringSize = ReadElement(
model, "filament.fog.inScatteringSize", fog_opts.inScatteringSize);
view->setFogOptions(fog_opts);
main_view_->setFogOptions(fog_opts);
auto bloom = view->getBloomOptions();
auto bloom = main_view_->getBloomOptions();
bloom.enabled = ReadElement(model, "filament.bloom.enabled", bloom.enabled);
bloom.strength =
ReadElement(model, "filament.bloom.strength", bloom.strength);
@@ -468,6 +466,6 @@ void SceneView::Configure(const mjModel* model) {
bloom.resolution =
ReadElement(model, "filament.bloom.resolution", bloom.resolution);
bloom.levels = ReadElement(model, "filament.bloom.levels", bloom.levels);
view->setBloomOptions(bloom);
main_view_->setBloomOptions(bloom);
}
} // namespace mujoco
src/experimental/filament/filament/scene_view.h
+2 -1
View File
@@ -92,7 +92,8 @@ class SceneView : public mjrScene {
filament::Camera* camera_ = nullptr;
filament::ColorGrading* color_grading_ = nullptr;
ColorGradingOptions color_grading_options_;
std::array<filament::View*, mjNUM_DRAW_MODES> views_;
filament::View* main_view_;
filament::View* depth_segment_view_;
// Scene objects.
std::unordered_set<Light*> lights_;
src/experimental/filament/render_context_filament.cc
-4
View File
@@ -277,10 +277,6 @@ void mjrf_setRenderableLayerMask(mjrRenderable* renderable,
mujoco::Renderable::downcast(renderable)->SetLayerMask(layer_mask);
}
void mjrf_setRenderableWireframe(mjrRenderable* renderable, mjtByte wireframe) {
mujoco::Renderable::downcast(renderable)->SetWireframe(wireframe);
}
void mjrf_setRenderableCastShadows(mjrRenderable* renderable,
mjtByte cast_shadows) {
mujoco::Renderable::downcast(renderable)->SetCastShadows(cast_shadows);
src/experimental/filament/render_context_filament.h
+3 -4
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@@ -130,6 +130,8 @@ void mjrf_destroyContext(mjrfContext* ctx);
typedef enum mjrDrawMode_ {
// Render the scene with "normal" colors and lighting.
mjDRAW_MODE_COLOR,
// Render the scene as a wireframe.
mjDRAW_MODE_WIREFRAME,
// Render the scene as a grayscale depth map.
mjDRAW_MODE_DEPTH,
// Render each object with a unique, uniform (flat) color regardless of
@@ -137,7 +139,7 @@ typedef enum mjrDrawMode_ {
mjDRAW_MODE_SEGMENTATION,
} mjrDrawMode;
enum { mjNUM_DRAW_MODES = 3 }; // Number of modes in `mjrDrawMode`.
enum { mjNUM_DRAW_MODES = 4 }; // Number of modes in `mjrDrawMode`.
// Parameters describing the camera to use for rendering an image.
typedef mjvGLCamera mjrCamera;
@@ -708,9 +710,6 @@ void mjrf_setRenderableCastShadows(mjrRenderable* renderable,
void mjrf_setRenderableReceiveShadows(mjrRenderable* renderable,
mjtByte receive_shadows);
// Forces the renderable to be rendered using lines.
void mjrf_setRenderableWireframe(mjrRenderable* renderable, mjtByte wireframe);
// Sets the layer mask of the renderable. See mjrRenderableParams for details.
void mjrf_setRenderableLayerMask(mjrRenderable* renderable, uint8_t layer_mask);