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Make planes semi-transparent from behind.

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PiperOrigin-RevId: 884896612
Change-Id: I00cc53e539fd1abccb43c7c6b89a7e063cb4848c
This commit is contained in:
Haroon Qureshi
2026-03-17 02:26:36 -07:00
committed by Copybara-Service
parent efae9157a7
commit 9a0dd7d32d
2 changed files with 25 additions and 11 deletions
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src/experimental/filament/filament/drawable.cc
+22 -7
View File
@@ -79,6 +79,12 @@ static float GetPlaneTileSize(const mjModel* model, int matid,
}
}
static bool IsBehind(const mjtNum* headpos, const float* pos, const float* mat) {
return ((headpos[0] - pos[0]) * mat[2] +
(headpos[1] - pos[1]) * mat[5] +
(headpos[2] - pos[2]) * mat[8] < 0.0f);
}
Drawable::Drawable(ObjectManager* object_mgr, const mjvGeom& geom)
: material_(object_mgr), renderables_(object_mgr->GetEngine()) {
if (geom.category == mjCAT_DECOR) {
@@ -170,8 +176,11 @@ void Drawable::Update(const mjModel* model, const mjvScene* scene,
}
}
mjtNum head_pos[3];
mjv_cameraInModel(head_pos, nullptr, nullptr, scene);
SetTransform(geom);
UpdateMaterial(geom, scene->flags[mjRND_IDCOLOR]);
UpdateMaterial(geom, scene->flags[mjRND_IDCOLOR], head_pos);
}
void Drawable::AddMesh(int data_id) {
@@ -330,10 +339,16 @@ void Drawable::SetTransform(const mjvGeom& geom) {
}
}
void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color) {
void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color,
const mjtNum* headpos) {
ObjectManager* object_mgr = material_.GetObjectManager();
const mjModel* model = object_mgr->GetModel();
float4 color = ReadFloat4(geom.rgba);
if (geom.type == mjGEOM_PLANE && IsBehind(headpos, geom.pos, geom.mat)) {
color[3] *= 0.3;
}
Material::Textures textures;
if (geom.matid >= 0) {
textures.color = object_mgr->GetTexture(geom.matid, mjTEXROLE_RGB);
@@ -381,26 +396,26 @@ void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color) {
}
if (textures.color == nullptr) {
if (geom.rgba[3] < 1.0f) {
if (color.a < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhongColorFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhongColor);
}
} else if (textures.color->getTarget() ==
filament::Texture::Sampler::SAMPLER_CUBEMAP) {
if (geom.rgba[3] < 1.0f) {
if (color.a < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhongCubeFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhongCube);
}
} else if (has_texcoords) {
if (geom.rgba[3] < 1.0f) {
if (color.a < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUvFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUv);
}
} else {
if (geom.rgba[3] < 1.0f) {
if (color.a < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dFade);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhong2d);
@@ -410,7 +425,7 @@ void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color) {
}
Material::Params params;
params.color = ReadFloat4(geom.rgba);
params.color = color;
params.emissive = geom.emission;
params.specular = geom.specular;
params.glossiness = geom.shininess;
src/experimental/filament/filament/drawable.h
+3 -4
View File
@@ -15,13 +15,11 @@
#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_DRAWABLE_H_
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_DRAWABLE_H_
#include <cstdint>
#include <filament/Engine.h>
#include <filament/Scene.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjvisualize.h>
#include "experimental/filament/filament/buffer_util.h"
#include "experimental/filament/filament/material.h"
#include "experimental/filament/filament/object_manager.h"
#include "experimental/filament/filament/renderables.h"
@@ -63,7 +61,8 @@ class Drawable {
void SetTransform(const mjvGeom& geom);
// Updates the material parameters of the drawable for rendering.
void UpdateMaterial(const mjvGeom& geom, bool use_segid_color);
void UpdateMaterial(const mjvGeom& geom, bool use_segid_color,
const mjtNum* headpos);
Material material_;
Renderables renderables_;