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Split SceneObjects out from ModelObjects.

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PiperOrigin-RevId: 930960334
Change-Id: I7958a8240a90e2eb7fb87e58e5bea561459a7695
This commit is contained in:
Haroon Qureshi
2026-06-11 23:35:40 -07:00
committed by Copybara-Service
parent 8d42473ed0
commit a37389ccfb
9 changed files with 261 additions and 153 deletions
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src/experimental/filament/compat/scene_geom_util.cc
+7 -5
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@@ -22,6 +22,7 @@
#include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/compat/model_objects.h"
#include "experimental/filament/compat/scene_objects.h"
#include "render/filament/mjrfilament.h"
#include "render/filament/mjrfilament_cpp.h"
@@ -41,7 +42,8 @@ static float GetPlaneTileSize(const mjModel* model, int matid,
}
static void PrepareGeomMeshes(mjrfRenderable* renderable, const mjvGeom& geom,
ModelObjects* model_objs) {
ModelObjects* model_objs,
SceneObjects* scene_objs) {
const mjModel* model = model_objs->GetModel();
const int nstack = model->vis.quality.numstacks;
const int nslice = model->vis.quality.numslices;
@@ -113,7 +115,7 @@ static void PrepareGeomMeshes(mjrfRenderable* renderable, const mjvGeom& geom,
mjrf_setRenderableSize(renderable, geom.size);
break;
case mjGEOM_FLEX:
mjrf_setRenderableMesh(renderable, model_objs->GetFlexMesh(geom.objid), 0, 0);
mjrf_setRenderableMesh(renderable, scene_objs->GetFlexMesh(geom.objid), 0, 0);
// Flexes are defined in global space.
std::memset(position, 0, sizeof(position));
std::memset(rotation, 0, sizeof(rotation));
@@ -122,7 +124,7 @@ static void PrepareGeomMeshes(mjrfRenderable* renderable, const mjvGeom& geom,
rotation[8] = 1.f;
break;
case mjGEOM_SKIN:
mjrf_setRenderableMesh(renderable, model_objs->GetSkinMesh(geom.objid), 0, 0);
mjrf_setRenderableMesh(renderable, scene_objs->GetSkinMesh(geom.objid), 0, 0);
// Skins are defined in global space.
std::memset(position, 0, sizeof(position));
std::memset(rotation, 0, sizeof(rotation));
@@ -271,11 +273,11 @@ static void UpdateGeomMaterial(mjrfRenderable* renderable, const mjvGeom& geom,
UniquePtr<mjrfRenderable> CreateGeomRenderable(
const mjvGeom& geom, mjrfContext* ctx, ModelObjects* model_objs,
const mjtByte render_flags[mjNRNDFLAG]) {
SceneObjects* scene_objs, const mjtByte render_flags[mjNRNDFLAG]) {
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx, params);
PrepareGeomMeshes(renderable.get(), geom, model_objs);
PrepareGeomMeshes(renderable.get(), geom, model_objs, scene_objs);
UpdateGeomMaterial(renderable.get(), geom, model_objs, render_flags);
return renderable;
}