Add functions to create context and render.

Rename mjrf_render to mjrf_renderScene to avoid naming collision.
This function is will be removed in a future CL.

PiperOrigin-RevId: 910764245
Change-Id: If4d05e806a9699570ca4bbc882f28bfdd05dbd8d

src/experimental/filament/mjr_compat.cc

@@ -36,7 +36,7 @@ void mjr_freeContext(mjrContext* con) {
   mjrf_freeContext(con);
 }
 void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
-  mjrf_render(viewport, scn, con);
+  mjrf_renderScene(viewport, scn, con);
 }
 void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
   mjrf_uploadMesh(m, con, meshid);

src/experimental/filament/render_context_filament.cc

@@ -145,6 +145,14 @@ void mjr_defaultReadPixelsRequest(mjrReadPixelsRequest* request) {
   memset(request, 0, sizeof(mjrReadPixelsRequest));
 }
 
+mjrfContext* mjrf_createContext(const mjrFilamentConfig* config) {
+  return new mujoco::FilamentContext(config);
+}
+
+void mjrf_destroyContext(mjrfContext* ctx) {
+  delete mujoco::FilamentContext::downcast(ctx);
+}
+
 mjrTexture* mjrf_createTexture(mjrfContext* ctx, const mjrTextureConfig* cfg) {
   return new mujoco::Texture(mujoco::FilamentContext::downcast(ctx), *cfg);
 }
@@ -328,6 +336,20 @@ void mjrf_configureSceneFromModel(mjrScene* scene, const mjModel* model) {
   mujoco::SceneView::downcast(scene)->Configure(model);
 }
 
+mjrFrameHandle mjrf_render(mjrfContext* ctx, const mjrRenderRequest* req,
+                           int nreq, const mjrReadPixelsRequest* read_req,
+                           int nread_req) {
+  return mujoco::FilamentContext::downcast(ctx)->Render(
+      {req, static_cast<size_t>(nreq)},
+      {read_req, static_cast<size_t>(nread_req)});
+}
+
+void mjrf_waitForFrame(mjrfContext* ctx, mjrFrameHandle frame) {
+  mujoco::FilamentContext::downcast(ctx)->WaitForFrame(frame);
+}
+
+// Legacy API, to be deprecated.
+
 void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
                               const mjrFilamentConfig* config) {
   // TODO: Support multiple contexts and multiple threads. For now, we'll just
@@ -361,7 +383,7 @@ void mjrf_freeContext(mjrContext* con) {
   mjrf_defaultContext(con);
 }
 
-void mjrf_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
+void mjrf_renderScene(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
   CheckFilamentContext();
   g_filament_context->Render(viewport, scn);
 }

src/experimental/filament/render_context_filament.h

@@ -421,6 +421,15 @@ struct mjrFilamentConfig {
   bool force_software_rendering;
 };
 
+// Initializes the mjrFilamentConfig to default values.
+void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
+
+// Creates a filament rendering context.
+mjrfContext* mjrf_createContext(const mjrFilamentConfig* config);
+
+// Destroys the filament rendering context.
+void mjrf_destroyContext(mjrfContext* ctx);
+
 // Creates a texture for the filament renderer.
 mjrTexture* mjrf_createTexture(mjrfContext* ctx, const mjrTextureConfig* cfg);
 
@@ -538,6 +547,14 @@ void mjrf_setSceneReflectionsEnabled(mjrScene* scene, bool enabled);
 // Configures the scene based on the parameters in the model.
 void mjrf_configureSceneFromModel(mjrScene* scene, const mjModel* model);
 
+// Submits the given requests for rendering.
+mjrFrameHandle mjrf_render(mjrfContext* ctx, const mjrRenderRequest* req,
+                           int nreq, const mjrReadPixelsRequest* read_req,
+                           int nread_req);
+
+// Waits for the rendering to complete for the given frame handle.
+void mjrf_waitForFrame(mjrfContext* ctx, mjrFrameHandle frame);
+
 // Legacy API, to be deprecated.
 
 void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
@@ -551,7 +568,7 @@ void mjrf_makeContext(const mjModel* m, mjrContext* con, int fontscale);
 
 void mjrf_freeContext(mjrContext* con);
 
-void mjrf_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
+void mjrf_renderScene(mjrRect viewport, mjvScene* scn, const mjrContext* con);
 
 void mjrf_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
 

src/experimental/filament/render_context_filament_cpp.h

@@ -25,6 +25,11 @@ namespace mujoco {
 template <typename T>
 using UniquePtr = std::unique_ptr<T, void (*)(T*)>;
 
+inline UniquePtr<mjrfContext> CreateContext(const mjrFilamentConfig& config) {
+  mjrfContext* context = mjrf_createContext(&config);
+  return UniquePtr<mjrfContext>(context, mjrf_destroyContext);
+}
+
 inline UniquePtr<mjrTexture> CreateTexture(mjrfContext* ctx,
                                            const mjrTextureConfig& config) {
   mjrTexture* texture = mjrf_createTexture(ctx, &config);

src/experimental/platform/hal/renderer.cc

@@ -95,7 +95,7 @@ void Renderer::Init(const mjModel* model) {
                                        : mjGRAPHICS_API_VULKAN;
       mjrf_makeFilamentContext(model, &render_context_, &render_config);
       render_ = [&](mjrRect rect, mjvScene* scene) {
-        mjrf_render(rect, scene, &render_context_);
+        mjrf_renderScene(rect, scene, &render_context_);
       };
       set_buffer_ = [&](int framebuffer) {
         mjrf_setBuffer(framebuffer, &render_context_);