Add line and linebox geom primitives.

PiperOrigin-RevId: 818570050
Change-Id: If02873dd878a23b442368ce69bc024e0310e9d02

src/experimental/filament/assets/unlit_line.mat

@@ -0,0 +1,29 @@
+// 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
+//
+//     http://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.
+
+material {
+    name : unlit_segmentation,
+    shadingModel : unlit,
+    culling: none,
+    parameters : [
+        { type : float4, name : BaseColorFactor }
+    ]
+}
+
+fragment {
+    void material(inout MaterialInputs material) {
+      prepareMaterial(material);
+      material.baseColor = materialParams.BaseColorFactor;
+    }
+}

src/experimental/filament/filament/buffer_util.h

@@ -23,6 +23,7 @@
 #include <filament/Box.h>
 #include <filament/Engine.h>
 #include <filament/IndexBuffer.h>
+#include <filament/RenderableManager.h>
 #include <filament/VertexBuffer.h>
 
 // Functions for creating filament vertex and index buffers.
@@ -33,6 +34,8 @@ struct FilamentBuffers {
   filament::IndexBuffer* index_buffer = nullptr;
   filament::VertexBuffer* vertex_buffer = nullptr;
   filament::Box bounds = {{-1, -1, -1}, {1, 1, 1}};
+  filament::RenderableManager::PrimitiveType type =
+      filament::RenderableManager::PrimitiveType::TRIANGLES;
 };
 
 // Function that fills in the given buffer with actual data.

src/experimental/filament/filament/builtins.cc

@@ -58,10 +58,45 @@ std::size_t NumIndicesPerSide(int num_quads_per_axis) {
   return kNumIndicesPerQuad * num_quads_per_axis * num_quads_per_axis;
 }
 
+class LineBuilder {
+ public:
+  using VertexType = VertexNoUv;
+  using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::LINES;
+
+  explicit LineBuilder() {}
+
+  std::size_t NumVertices() const {
+    return 2;
+  }
+
+  std::size_t NumIndices() const {
+    return 2;
+  }
+
+  void GenerateVertices(VertexType* ptr, size_t num) const {
+    constexpr float4 kOrientation = {0, 0, 0, 1};  // Unused for lines.
+    ptr[0] = VertexType({0, 0, 0}, kOrientation);
+    ptr[1] = VertexType({0, 0, 1}, kOrientation);
+  }
+
+  void GenerateIndices(IndexType* ptr, size_t num) const {
+    ptr[0] = 0;
+    ptr[1] = 1;
+  }
+
+  filament::Box GetBounds() const {
+    return {{-0.001, -0.001, 0}, {0.001, 0.001, 1}};
+  }
+};
+
 class PlaneBuilder {
  public:
   using VertexType = VertexNoUv;
   using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::TRIANGLES;
 
   explicit PlaneBuilder(int num_quads_per_axis)
       : num_quads_per_axis_(num_quads_per_axis),
@@ -109,10 +144,74 @@ class PlaneBuilder {
   float4 orientation_;
 };
 
+class LineBoxBuilder {
+ public:
+  using VertexType = VertexNoUv;
+  using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::LINES;
+
+  explicit LineBoxBuilder() {}
+
+  std::size_t NumVertices() const {
+    return 8;
+  }
+
+  std::size_t NumIndices() const {
+    return 24;
+  }
+
+  void GenerateVertices(VertexType* ptr, size_t num) const {
+    constexpr float4 kOrientation = {0, 0, 0, 1};  // Unused for lines.
+    ptr[0] = VertexType({-1.0f, -1.0f, -1.0f}, kOrientation);
+    ptr[1] = VertexType({ 1.0f, -1.0f, -1.0f}, kOrientation);
+    ptr[2] = VertexType({-1.0f,  1.0f, -1.0f}, kOrientation);
+    ptr[3] = VertexType({ 1.0f,  1.0f, -1.0f}, kOrientation);
+    ptr[4] = VertexType({-1.0f, -1.0f,  1.0f}, kOrientation);
+    ptr[5] = VertexType({ 1.0f, -1.0f,  1.0f}, kOrientation);
+    ptr[6] = VertexType({-1.0f,  1.0f,  1.0f}, kOrientation);
+    ptr[7] = VertexType({ 1.0f,  1.0f,  1.0f}, kOrientation);
+  }
+
+  void GenerateIndices(IndexType* ptr, size_t num) const {
+    // Bottom square (where z == -1).
+    ptr[0] = 0;
+    ptr[1] = 1;
+    ptr[2] = 1;
+    ptr[3] = 3;
+    ptr[4] = 3;
+    ptr[5] = 2;
+    ptr[6] = 2;
+    ptr[7] = 0;
+    // Top square (where z == 1).
+    ptr[8] = 4;
+    ptr[9] = 5;
+    ptr[10] = 5;
+    ptr[11] = 7;
+    ptr[12] = 7;
+    ptr[13] = 6;
+    ptr[14] = 6;
+    ptr[15] = 4;
+    // Connect edges from bottom to top.
+    ptr[16] = 2;
+    ptr[17] = 6;
+    ptr[18] = 3;
+    ptr[19] = 7;
+    ptr[20] = 0;
+    ptr[21] = 4;
+    ptr[22] = 1;
+    ptr[23] = 5;
+  }
+
+  filament::Box GetBounds() const { return {{-1, -1, -1}, {1, 1, 1}}; }
+};
+
 class BoxBuilder {
  public:
   using VertexType = VertexNoUv;
   using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::TRIANGLES;
 
   static constexpr int kNumSides = 6;
 
@@ -196,6 +295,8 @@ class TubeBuilder {
  public:
   using VertexType = VertexNoUv;
   using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::TRIANGLES;
 
   TubeBuilder(int num_stacks, int num_slices)
       : num_stacks_(num_stacks), num_slices_(num_slices) {}
@@ -252,6 +353,8 @@ class ConeBuilder {
  public:
   using VertexType = VertexNoUv;
   using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::TRIANGLES;
 
   ConeBuilder(int num_stacks, int num_slices)
       : num_stacks_(num_stacks), num_slices_(num_slices) {}
@@ -341,6 +444,8 @@ class DiskBuilder {
  public:
   using VertexType = VertexNoUv;
   using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::TRIANGLES;
 
   explicit DiskBuilder(int num_slices) : num_slices_(num_slices) {
     orientation_ = CalculateOrientation({0, 0, 1});
@@ -388,6 +493,8 @@ class SphereBuilder {
  public:
   using VertexType = VertexNoUv;
   using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::TRIANGLES;
 
   static constexpr IndexType kNorthPoleIndex = 0;
   static constexpr IndexType kSouthPoleIndex = 1;
@@ -494,6 +601,8 @@ class DomeBuilder {
  public:
   using VertexType = VertexNoUv;
   using IndexType = uint16_t;
+  static constexpr filament::RenderableManager::PrimitiveType kPrimitiveType =
+      filament::RenderableManager::PrimitiveType::TRIANGLES;
 
   static constexpr IndexType kPoleIndex = 0;
 
@@ -617,7 +726,11 @@ FilamentBuffers CreateFromBuilder(filament::Engine* engine, const T& builder) {
 
   auto vb = CreateVertexBuffer<VertexType>(engine, num_vertices, vertices);
   auto ib = CreateIndexBuffer<IndexType>(engine, num_indices, indices);
-  return {ib, vb, builder.GetBounds()};
+  return {ib, vb, builder.GetBounds(), T::kPrimitiveType};
+}
+
+FilamentBuffers CreateLine(filament::Engine* engine, const mjModel* model) {
+  return CreateFromBuilder(engine, LineBuilder());
 }
 
 FilamentBuffers CreatePlane(filament::Engine* engine, const mjModel* model) {
@@ -630,6 +743,10 @@ FilamentBuffers CreateBox(filament::Engine* engine, const mjModel* model) {
   return CreateFromBuilder(engine, BoxBuilder(num_quads));
 }
 
+FilamentBuffers CreateLineBox(filament::Engine* engine, const mjModel* model) {
+  return CreateFromBuilder(engine, LineBoxBuilder());
+}
+
 FilamentBuffers CreateSphere(filament::Engine* engine, const mjModel* model) {
   const int num_stacks = model->vis.quality.numstacks;
   const int num_slices = model->vis.quality.numslices;

src/experimental/filament/filament/builtins.h

@@ -22,7 +22,9 @@
 // Generates buffers for built-in shapes.
 namespace mujoco {
 
+FilamentBuffers CreateLine(filament::Engine* engine, const mjModel* model);
 FilamentBuffers CreateBox(filament::Engine* engine, const mjModel* model);
+FilamentBuffers CreateLineBox(filament::Engine* engine, const mjModel* model);
 FilamentBuffers CreatePlane(filament::Engine* engine, const mjModel* model);
 FilamentBuffers CreateSphere(filament::Engine* engine, const mjModel* model);
 FilamentBuffers CreateTube(filament::Engine* engine, const mjModel* model);

src/experimental/filament/filament/drawable.cc

@@ -106,6 +106,10 @@ Drawable::Drawable(ObjectManager* object_mgr, const mjvGeom& geom)
     AddShape(ObjectManager::kCone);
     AddShape(ObjectManager::kDisk);
     AddShape(ObjectManager::kDisk);
+  } else if (geom.type == mjGEOM_LINE) {
+    AddShape(ObjectManager::kLine);
+  } else if (geom.type == mjGEOM_LINEBOX) {
+    AddShape(ObjectManager::kLineBox);
   } else if (geom.type == mjGEOM_FLEX || geom.type == mjGEOM_SKIN) {
     // Flex and skin geometries are dynamically updated every frame.
   } else {
@@ -298,53 +302,57 @@ void Drawable::UpdateMaterial(const mjvGeom& geom) {
     textures.occlusion = object_mgr->GetTexture(geom.matid, mjTEXROLE_OCCLUSION);
   }
 
-  if (geom.matid >= 0) {
-    if (textures.orm) {
-      material_.SetNormalMaterialType(ObjectManager::kPbrPacked);
-    } else if (textures.metallic) {
-      material_.SetNormalMaterialType(ObjectManager::kPbr);
-    } else if (textures.roughness) {
-      material_.SetNormalMaterialType(ObjectManager::kPbr);
-    } else if (model->mat_metallic[geom.matid] >= 0) {
-      material_.SetNormalMaterialType(ObjectManager::kPbr);
-    } else if (model->mat_roughness[geom.matid] >= 0) {
-      material_.SetNormalMaterialType(ObjectManager::kPbr);
-    }
-  }
-
-  // Check to see if we're dealing with a mesh with texture coordinates.
-  // `data_id` is the id of the mesh in model (i.e. the geom has mesh geometry)
-  // and `mesh_texcoordadr` stores the address of the mesh uvs if it has them.
-  bool has_texcoords = false;
-  if ((geom.type == mjGEOM_MESH || geom.type == mjGEOM_SDF) &&
-      geom.dataid >= 0 && model->mesh_texcoordadr[geom.dataid / 2] >= 0) {
-    has_texcoords = true;
-  }
-
-  if (textures.color == nullptr) {
-    if (geom.rgba[3] < 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) {
-      material_.SetNormalMaterialType(ObjectManager::kPhongCubeFade);
-    } else {
-      material_.SetNormalMaterialType(ObjectManager::kPhongCube);
-    }
-  } else if (has_texcoords) {
-    if (geom.rgba[3] < 1.0f) {
-      material_.SetNormalMaterialType(ObjectManager::kPhong2dUvFade);
-    } else {
-      material_.SetNormalMaterialType(ObjectManager::kPhong2dUv);
-    }
+  if (geom.type == mjGEOM_LINE || geom.type == mjGEOM_LINEBOX) {
+    material_.SetNormalMaterialType(ObjectManager::kUnlitLine);
   } else {
-    if (geom.rgba[3] < 1.0f) {
-      material_.SetNormalMaterialType(ObjectManager::kPhong2dFade);
+    if (geom.matid >= 0) {
+      if (textures.orm) {
+        material_.SetNormalMaterialType(ObjectManager::kPbrPacked);
+      } else if (textures.metallic) {
+        material_.SetNormalMaterialType(ObjectManager::kPbr);
+      } else if (textures.roughness) {
+        material_.SetNormalMaterialType(ObjectManager::kPbr);
+      } else if (model->mat_metallic[geom.matid] >= 0) {
+        material_.SetNormalMaterialType(ObjectManager::kPbr);
+      } else if (model->mat_roughness[geom.matid] >= 0) {
+        material_.SetNormalMaterialType(ObjectManager::kPbr);
+      }
+    }
+
+    // Check to see if we're dealing with a mesh with texture coordinates.
+    // `data_id` is the id of the mesh in model (i.e. the geom has mesh geometry)
+    // and `mesh_texcoordadr` stores the address of the mesh uvs if it has them.
+    bool has_texcoords = false;
+    if ((geom.type == mjGEOM_MESH || geom.type == mjGEOM_SDF) &&
+        geom.dataid >= 0 && model->mesh_texcoordadr[geom.dataid / 2] >= 0) {
+      has_texcoords = true;
+    }
+
+    if (textures.color == nullptr) {
+      if (geom.rgba[3] < 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) {
+        material_.SetNormalMaterialType(ObjectManager::kPhongCubeFade);
+      } else {
+        material_.SetNormalMaterialType(ObjectManager::kPhongCube);
+      }
+    } else if (has_texcoords) {
+      if (geom.rgba[3] < 1.0f) {
+        material_.SetNormalMaterialType(ObjectManager::kPhong2dUvFade);
+      } else {
+        material_.SetNormalMaterialType(ObjectManager::kPhong2dUv);
+      }
     } else {
-      material_.SetNormalMaterialType(ObjectManager::kPhong2d);
+      if (geom.rgba[3] < 1.0f) {
+        material_.SetNormalMaterialType(ObjectManager::kPhong2dFade);
+      } else {
+        material_.SetNormalMaterialType(ObjectManager::kPhong2d);
+      }
     }
   }
 

src/experimental/filament/filament/object_manager.cc

@@ -68,7 +68,9 @@ struct Asset {
 ObjectManager::ObjectManager(const mjModel* model, filament::Engine* engine,
                              const mjrFilamentConfig* config)
     : model_(model), engine_(engine), config_(config) {
+  shapes_[kLine] = CreateLine(engine_, model_);
   shapes_[kBox] = CreateBox(engine_, model_);
+  shapes_[kLineBox] = CreateLineBox(engine_, model_);
   shapes_[kCone] = CreateCone(engine_, model_);
   shapes_[kDisk] = CreateDisk(engine_, model_);
   shapes_[kDome] = CreateDome(engine_, model_);
@@ -94,6 +96,7 @@ ObjectManager::ObjectManager(const mjModel* model, filament::Engine* engine,
   materials_[kPhongCube] = LoadMaterial("phong_cube.filamat");
   materials_[kPhongCubeFade] = LoadMaterial("phong_cube_fade.filamat");
   materials_[kUnlitSegmentation] = LoadMaterial("unlit_segmentation.filamat");
+  materials_[kUnlitLine] = LoadMaterial("unlit_line.filamat");
   materials_[kUnlitDepth] = LoadMaterial("unlit_depth.filamat");
   materials_[kUnlitUi] = LoadMaterial("unlit_ui.filamat");
 

src/experimental/filament/filament/object_manager.h

@@ -51,11 +51,14 @@ class ObjectManager {
     kPhongCubeFade,
     kUnlitSegmentation,
     kUnlitDepth,
+    kUnlitLine,
     kUnlitUi,
     kNumMaterials,
   };
 
   enum ShapeType {
+    kLine,
+    kLineBox,
     kPlane,
     kBox,
     kSphere,

src/experimental/filament/filament/renderables.cc

@@ -96,8 +96,8 @@ utils::Entity Renderables::CreateEntity(const FilamentBuffers& buffers) {
   }
 
   filament::RenderableManager::Builder builder(1);
-  builder.geometry(0, filament::RenderableManager::PrimitiveType::TRIANGLES,
-                   buffers.vertex_buffer, buffers.index_buffer);
+  builder.geometry(0, buffers.type, buffers.vertex_buffer,
+                   buffers.index_buffer);
   if (material_instance_) {
     builder.material(0, material_instance_);
   }
@@ -124,8 +124,7 @@ void Renderables::UpdateEntity(utils::Entity entity,
     mju_error("Invalid (null) index buffer.");
   }
   filament::RenderableManager& rm = engine_->getRenderableManager();
-  rm.setGeometryAt(rm.getInstance(entity), 0,
-                   filament::RenderableManager::PrimitiveType::TRIANGLES,
+  rm.setGeometryAt(rm.getInstance(entity), 0, buffers.type,
                    buffers.vertex_buffer, buffers.index_buffer, 0,
                    buffers.index_buffer->getIndexCount());
 }