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Minor cleanup to scene_geom_util.

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PiperOrigin-RevId: 915367694
Change-Id: Ia20c3ba050d9f364da5c26f0812bf9a9c5763cd6
This commit is contained in:
Haroon Qureshi
2026-05-14 04:54:00 -07:00
committed by Copybara-Service
parent c587cea0f7
commit 9c372fbbea
5 changed files with 64 additions and 84 deletions
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src/experimental/filament/compat/model_objects.cc
+17 -16
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@@ -602,7 +602,7 @@ void ModelObjects::CreateSkinFlexMesh(const mjvScene* scene, const mjvGeom& geom
dynamic_meshes_.insert_or_assign(geom.objid, CreateMesh(ctx_, data)); dynamic_meshes_.insert_or_assign(geom.objid, CreateMesh(ctx_, data));
} }
const mjrMesh* ModelObjects::GetMeshBuffer(int data_id) const { const mjrMesh* ModelObjects::GetMesh(int data_id) const {
// As defined by mjv_updateScene: // As defined by mjv_updateScene:
// original mesh: mesh_id * 2 // original mesh: mesh_id * 2
// convex hull: (mesh_id * 2) + 1 // convex hull: (mesh_id * 2) + 1
@@ -616,27 +616,28 @@ const mjrMesh* ModelObjects::GetMeshBuffer(int data_id) const {
} }
} }
const mjrMesh* ModelObjects::GetHeightFieldBuffer(int hfield_id) const { const mjrMesh* ModelObjects::GetHeightField(int hfield_id) const {
auto it = height_fields_.find(hfield_id); if (auto it = height_fields_.find(hfield_id); it != height_fields_.end()) {
return it != height_fields_.end() ? it->second.get() : nullptr; return it->second.get();
}
mju_error("Unknown height field %d", hfield_id);
return nullptr;
} }
const mjrMesh* ModelObjects::GetFlexSkinGeomMesh(int geom_id) const { const mjrMesh* ModelObjects::GetFlexSkinMesh(int geom_id) const {
auto it = dynamic_meshes_.find(geom_id); if (auto it = dynamic_meshes_.find(geom_id); it != dynamic_meshes_.end()) {
return it != dynamic_meshes_.end() ? it->second.get() : nullptr; return it->second.get();
}
mju_error("Unknown dynamic mesh %d", geom_id);
return nullptr;
} }
const mjrTexture* ModelObjects::GetTexture(int tex_id) const { const mjrTexture* ModelObjects::GetTexture(int tex_id) const {
auto it = textures_.find(tex_id); if (auto it = textures_.find(tex_id); it != textures_.end()) {
return it != textures_.end() ? it->second.get() : nullptr; return it->second.get();
}
const mjrTexture* ModelObjects::GetTexture(int mat_id, int role) const {
if (mat_id < 0 || mat_id >= model_->nmat || role < 0 || role >= mjNTEXROLE) {
return nullptr;
} }
const int tex_id = model_->mat_texid[mat_id * mjNTEXROLE + role]; mju_error("Unknown texture %d", tex_id);
return GetTexture(tex_id); return nullptr;
} }
const mjrTexture* ModelObjects::GetSkyboxTexture() const { const mjrTexture* ModelObjects::GetSkyboxTexture() const {
src/experimental/filament/compat/model_objects.h
+3 -4
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@@ -38,11 +38,10 @@ class ModelObjects {
void CreateSkinFlexMesh(const mjvScene* scene, const mjvGeom& geom); void CreateSkinFlexMesh(const mjvScene* scene, const mjvGeom& geom);
// Returns the cached instance of a filament object created from the mjModel. // Returns the cached instance of a filament object created from the mjModel.
const mjrMesh* GetMeshBuffer(int data_id) const; const mjrMesh* GetMesh(int data_id) const;
const mjrMesh* GetHeightFieldBuffer(int hfield_id) const; const mjrMesh* GetHeightField(int hfield_id) const;
const mjrMesh* GetFlexSkinGeomMesh(int geom_id) const; const mjrMesh* GetFlexSkinMesh(int geom_id) const;
const mjrTexture* GetTexture(int tex_id) const; const mjrTexture* GetTexture(int tex_id) const;
const mjrTexture* GetTexture(int mat_id, int role) const;
const mjrTexture* GetSkyboxTexture() const; const mjrTexture* GetSkyboxTexture() const;
float GetSpecularMultiplier() const { return specular_multiplier_; } float GetSpecularMultiplier() const { return specular_multiplier_; }
src/experimental/filament/compat/scene_bridge.cc
+1 -1
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@@ -299,7 +299,7 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
} }
UniquePtr<mjrRenderable> renderable = CreateGeomRenderable( UniquePtr<mjrRenderable> renderable = CreateGeomRenderable(
*geom, scene, ctx_, model_objects_.get(), headpos); *geom, ctx_, model_objects_.get(), headpos, scene->flags);
mjrf_addRenderableToScene(scene_.get(), renderable.get()); mjrf_addRenderableToScene(scene_.get(), renderable.get());
renderables_.push_back(std::move(renderable)); renderables_.push_back(std::move(renderable));
src/experimental/filament/compat/scene_geom_util.cc
+40 -61
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@@ -46,30 +46,9 @@ static bool IsBehind(const float* headpos, const float* pos, const float* mat) {
0.0f); 0.0f);
} }
static const mjrMesh* GetMesh(ModelObjects* model_objs, int data_id) {
const mjrMesh* mesh = model_objs->GetMeshBuffer(data_id);
if (mesh == nullptr) {
mju_error("Unknown mesh %d", data_id);
}
return mesh;
}
static const mjrMesh* GetSkinFlexMesh(ModelObjects* model_objs, int objid) {
return model_objs->GetFlexSkinGeomMesh(objid);
}
static const mjrMesh* GetHeightField(ModelObjects* model_objs, int hfield_id) {
const mjrMesh* mesh = model_objs->GetHeightFieldBuffer(hfield_id);
if (mesh == nullptr) {
mju_error("Unknown height field %d", hfield_id);
}
return mesh;
}
static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom, static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
const mjvScene* scene, ModelObjects* model_objs) {
ModelObjects* model_objects) { const mjModel* model = model_objs->GetModel();
const mjModel* model = model_objects->GetModel();
const int nstack = model->vis.quality.numstacks; const int nstack = model->vis.quality.numstacks;
const int nslice = model->vis.quality.numslices; const int nslice = model->vis.quality.numslices;
const int nquad = model->vis.quality.numquads; const int nquad = model->vis.quality.numquads;
@@ -81,24 +60,25 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
float size[3]; float size[3];
std::memcpy(size, &geom.size, 3 * sizeof(float)); std::memcpy(size, &geom.size, 3 * sizeof(float));
switch ((mjtGeom)geom.type) { const mjtGeom geom_type = (mjtGeom)geom.type;
switch (geom_type) {
case mjGEOM_MESH: case mjGEOM_MESH:
case mjGEOM_SDF: case mjGEOM_SDF:
mjrf_setRenderableMesh(renderable, GetMesh(model_objects, geom.dataid), 0, 0); mjrf_setRenderableMesh(renderable, model_objs->GetMesh(geom.dataid), 0, 0);
// Ignore size for meshes. // Ignore size for meshes.
size[0] = 1.f; size[0] = 1.f;
size[1] = 1.f; size[1] = 1.f;
size[2] = 1.f; size[2] = 1.f;
break; break;
case mjGEOM_HFIELD: case mjGEOM_HFIELD:
mjrf_setRenderableMesh(renderable, GetHeightField(model_objects, geom.dataid), 0, 0); mjrf_setRenderableMesh(renderable, model_objs->GetHeightField(geom.dataid), 0, 0);
// Ignore size for meshes. // Ignore size for meshes.
size[0] = 1.f; size[0] = 1.f;
size[1] = 1.f; size[1] = 1.f;
size[2] = 1.f; size[2] = 1.f;
break; break;
case mjGEOM_PLANE: { case mjGEOM_PLANE: {
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
const bool is_infinite = !(size[0] > 0 && size[1] > 0); const bool is_infinite = !(size[0] > 0 && size[1] > 0);
if (is_infinite) { if (is_infinite) {
@@ -113,40 +93,40 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
break; break;
} }
case mjGEOM_SPHERE: case mjGEOM_SPHERE:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_ELLIPSOID: case mjGEOM_ELLIPSOID:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_BOX: case mjGEOM_BOX:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_CAPSULE: case mjGEOM_CAPSULE:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_CYLINDER: case mjGEOM_CYLINDER:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_ARROW: case mjGEOM_ARROW:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_ARROW1: case mjGEOM_ARROW1:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_ARROW2: case mjGEOM_ARROW2:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_LINE: case mjGEOM_LINE:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_LINEBOX: case mjGEOM_LINEBOX:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_TRIANGLE: case mjGEOM_TRIANGLE:
mjrf_setRenderableGeomMesh(renderable, (mjtGeom)geom.type, nstack, nslice, nquad); mjrf_setRenderableGeomMesh(renderable, geom_type, nstack, nslice, nquad);
break; break;
case mjGEOM_FLEX: case mjGEOM_FLEX:
mjrf_setRenderableMesh(renderable, GetSkinFlexMesh(model_objects, geom.objid), 0, 0); mjrf_setRenderableMesh(renderable, model_objs->GetFlexSkinMesh(geom.objid), 0, 0);
// Flexes are defined in global space. // Flexes are defined in global space.
std::memset(position, 0, sizeof(position)); std::memset(position, 0, sizeof(position));
std::memset(rotation, 0, sizeof(rotation)); std::memset(rotation, 0, sizeof(rotation));
@@ -158,7 +138,7 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
size[2] = 1.f; size[2] = 1.f;
break; break;
case mjGEOM_SKIN: case mjGEOM_SKIN:
mjrf_setRenderableMesh(renderable, GetSkinFlexMesh(model_objects, geom.objid), 0, 0); mjrf_setRenderableMesh(renderable, model_objs->GetFlexSkinMesh(geom.objid), 0, 0);
// Skins are defined in global space. // Skins are defined in global space.
std::memset(position, 0, sizeof(position)); std::memset(position, 0, sizeof(position));
std::memset(rotation, 0, sizeof(rotation)); std::memset(rotation, 0, sizeof(rotation));
@@ -182,11 +162,10 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
} }
static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom, static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
const mjvScene* scene, ModelObjects* model_objs, ModelObjects* model_objs, const float headpos[3],
const float headpos[3]) { const mjtByte render_flags[mjNRNDFLAG]) {
const mjModel* model = model_objs->GetModel(); const mjModel* model = model_objs->GetModel();
const bool use_segid_color = scene->flags[mjRND_IDCOLOR];
mjrMaterial material; mjrMaterial material;
mjr_defaultMaterial(&material); mjr_defaultMaterial(&material);
@@ -213,22 +192,21 @@ static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
mjrf_setRenderableCastShadows(renderable, false); mjrf_setRenderableCastShadows(renderable, false);
mjrf_setRenderableReceiveShadows(renderable, false); mjrf_setRenderableReceiveShadows(renderable, false);
} else { } else {
mjrf_setRenderableWireframe(renderable, scene->flags[mjRND_WIREFRAME]); mjrf_setRenderableWireframe(renderable, render_flags[mjRND_WIREFRAME]);
} }
if (geom.matid >= 0) { if (geom.matid >= 0 && geom.matid < model->nmat) {
material.color_texture = model_objs->GetTexture(geom.matid, mjTEXROLE_RGB); auto get_texture = [&](int role) -> const mjrTexture* {
material.normal_texture = const int tex_id = model->mat_texid[geom.matid * mjNTEXROLE + role];
model_objs->GetTexture(geom.matid, mjTEXROLE_NORMAL); return tex_id >= 0 ? model_objs->GetTexture(tex_id) : nullptr;
material.emissive_texture = };
model_objs->GetTexture(geom.matid, mjTEXROLE_EMISSIVE); material.color_texture = get_texture(mjTEXROLE_RGB);
material.orm_texture = model_objs->GetTexture(geom.matid, mjTEXROLE_ORM); material.normal_texture = get_texture(mjTEXROLE_NORMAL);
material.metallic_texture = material.emissive_texture = get_texture(mjTEXROLE_EMISSIVE);
model_objs->GetTexture(geom.matid, mjTEXROLE_METALLIC); material.orm_texture = get_texture(mjTEXROLE_ORM);
material.roughness_texture = material.metallic_texture = get_texture(mjTEXROLE_METALLIC);
model_objs->GetTexture(geom.matid, mjTEXROLE_ROUGHNESS); material.roughness_texture = get_texture(mjTEXROLE_ROUGHNESS);
material.occlusion_texture = material.occlusion_texture = get_texture(mjTEXROLE_OCCLUSION);
model_objs->GetTexture(geom.matid, mjTEXROLE_OCCLUSION);
} }
material.reflectance = geom.reflectance; material.reflectance = geom.reflectance;
@@ -242,6 +220,7 @@ static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
if (geom.segid >= 0) { if (geom.segid >= 0) {
uint32_t segmentation_color = geom.segid + 1; uint32_t segmentation_color = geom.segid + 1;
const bool use_segid_color = render_flags[mjRND_IDCOLOR];
if (!use_segid_color) { if (!use_segid_color) {
constexpr double phi1 = 1.61803398874989484820; // Cached Phi(1). constexpr double phi1 = 1.61803398874989484820; // Cached Phi(1).
constexpr double coef1 = 1.0 / phi1; constexpr double coef1 = 1.0 / phi1;
@@ -337,13 +316,13 @@ static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
} }
UniquePtr<mjrRenderable> CreateGeomRenderable( UniquePtr<mjrRenderable> CreateGeomRenderable(
const mjvGeom& geom, const mjvScene* scene, mjrfContext* ctx, const mjvGeom& geom, mjrfContext* ctx, ModelObjects* model_objs,
ModelObjects* model_objs, const float headpos[3]) { const float headpos[3], const mjtByte render_flags[mjNRNDFLAG]) {
mjrRenderableParams params; mjrRenderableParams params;
mjr_defaultRenderableParams(&params); mjr_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx, params); auto renderable = CreateRenderable(ctx, params);
PrepareGeomMeshes(renderable.get(), geom, scene, model_objs); PrepareGeomMeshes(renderable.get(), geom, model_objs);
UpdateGeomMaterial(renderable.get(), geom, scene, model_objs, headpos); UpdateGeomMaterial(renderable.get(), geom, model_objs, headpos, render_flags);
return renderable; return renderable;
} }
} // namespace mujoco } // namespace mujoco
src/experimental/filament/compat/scene_geom_util.h
+3 -2
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@@ -16,6 +16,7 @@
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_ #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_
#include <mujoco/mjvisualize.h> #include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/compat/model_objects.h" #include "experimental/filament/compat/model_objects.h"
#include "experimental/filament/render_context_filament.h" #include "experimental/filament/render_context_filament.h"
#include "experimental/filament/render_context_filament_cpp.h" #include "experimental/filament/render_context_filament_cpp.h"
@@ -24,8 +25,8 @@ namespace mujoco {
// Creates a Renderable from the given mjvGeom. // Creates a Renderable from the given mjvGeom.
UniquePtr<mjrRenderable> CreateGeomRenderable( UniquePtr<mjrRenderable> CreateGeomRenderable(
const mjvGeom& geom, const mjvScene* scene, mjrfContext* ctx, const mjvGeom& geom, mjrfContext* ctx, ModelObjects* model_objs,
ModelObjects* model_objs, const float headpos[3]); const float headpos[3], const mjtByte render_flags[mjNRNDFLAG]);
} // namespace mujoco } // namespace mujoco