Move Material into Renderables.

PiperOrigin-RevId: 898873853
Change-Id: I3ef13e44c16334c52ea6f08dbc44fde23096ef4c

src/experimental/filament/filament/drawable.cc

@@ -35,6 +35,7 @@
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/filament/renderables.h"
 #include "experimental/filament/filament/texture.h"
 
 namespace mujoco {
@@ -87,8 +88,7 @@ static bool IsBehind(const float* headpos, const float* pos, const float* mat) {
 
 Drawable::Drawable(ModelObjects* model_objects, const mjvScene* scene,
                    const mjvGeom& geom)
-    : material_(model_objects->GetEngine()),
+    : renderables_(model_objects->GetEngine()) {
-      renderables_(model_objects->GetEngine()) {
   if (geom.category == mjCAT_DECOR) {
     renderables_.SetCastShadows(false);
     renderables_.SetReceiveShadows(false);
@@ -201,26 +201,6 @@ void Drawable::AddShape(ModelObjects* model_objs,
   renderables_.Append(mesh);
 }
 
-void Drawable::AddToScene(filament::Scene* scene) {
-  renderables_.AddToScene(scene);
-}
-
-void Drawable::RemoveFromScene(filament::Scene* scene) {
-  renderables_.RemoveFromScene(scene);
-}
-
-void Drawable::SetDrawMode(Material::DrawMode mode) {
-  renderables_.SetMaterialInstance(material_.GetMaterialInstance(mode));
-}
-
-Material& Drawable::GetMaterial() {
-  return material_;
-}
-
-void Drawable::SetLayerMask(std::uint8_t mask) {
-  renderables_.SetLayerMask(mask);
-}
-
 void Drawable::SetTransform(const mjvGeom& geom) {
   // Flex and skin geometries are in global space.
   if (geom.type == mjGEOM_FLEX || geom.type == mjGEOM_SKIN) {
@@ -371,7 +351,7 @@ void Drawable::UpdateMaterial(const mjModel* model, const mjvGeom& geom,
         model_objs->GetTexture(geom.matid, mjTEXROLE_ROUGHNESS);
     textures.occlusion =
         model_objs->GetTexture(geom.matid, mjTEXROLE_OCCLUSION);
-    material_.UpdateTextures(textures);
+    GetMaterial().UpdateTextures(textures);
   }
 
   if (geom.type == mjGEOM_LINE || geom.type == mjGEOM_LINEBOX) {
@@ -543,6 +523,6 @@ void Drawable::UpdateMaterial(const mjModel* model, const mjvGeom& geom,
   params.specular *= model_objs->GetSpecularMultiplier();
   params.glossiness *= model_objs->GetShininessMultiplier();
 
-  material_.UpdateParams(params);
+  GetMaterial().UpdateParams(params);
 }
 }  // namespace mujoco

src/experimental/filament/filament/drawable.h

@@ -15,9 +15,6 @@
 #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 <math/mat4.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjtnum.h>
@@ -39,13 +36,6 @@ class Drawable {
   Drawable(const Drawable&) = delete;
   Drawable& operator=(const Drawable&) = delete;
 
-  // Adds the Drawable to the given filament Scene. Note that a Drawable can
-  // only be assigned to a single Scene at any given time.
-  void AddToScene(filament::Scene* scene);
-
-  // Removes the Drawable from the given filament Scene.
-  void RemoveFromScene(filament::Scene* scene);
-
   // Updates the transform of the drawable for rendering.
   void SetTransform(const mjvGeom& geom);
 
@@ -58,17 +48,11 @@ class Drawable {
   // Returns the transform of the drawable.
   const filament::math::mat4& GetTransform() const { return transform_; }
 
-  // Swaps the MaterialInstance that will be used to render the Drawable (e.g.
+  // Returns the renderables for the drawable.
-  // normal, depth, segmentation, etc.). This must be called before the filament
+  Renderables& GetRenderables() { return renderables_; }
-  // beginFrame/endFrame.
-  void SetDrawMode(Material::DrawMode mode);
-
-  // Sets the layer mask for all managed entities. This can be used to show
-  // or hide the drawable from specific passes. The default layer mask is 0x01.
-  void SetLayerMask(std::uint8_t mask);
 
   // Returns the material for the drawable.
-  Material& GetMaterial();
+  Material& GetMaterial() { return renderables_.GetMaterial(); }
 
  private:
   void AddMesh(ModelObjects* model_objs, int data_id);
@@ -77,7 +61,6 @@ class Drawable {
   void AddHeightField(ModelObjects* model_objs, int hfield_id);
   void AddShape(ModelObjects* model_objs, ModelObjects::ShapeType shape_type);
 
-  Material material_;
   Renderables renderables_;
   filament::math::mat4 transform_;
 };

src/experimental/filament/filament/material.h

@@ -94,6 +94,9 @@ class Material {
     return instances_[mode];
   }
 
+  // Returns the filament Engine managing the material.
+  filament::Engine* GetEngine() const { return engine_; }
+
  private:
   // Updates the material instances based on the currently set parameters and
   // textures.

src/experimental/filament/filament/renderables.cc

@@ -22,11 +22,12 @@
 #include <filament/Scene.h>
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/mesh.h"
 
 namespace mujoco {
 
-Renderables::Renderables(filament::Engine* engine) : engine_(engine) {}
+Renderables::Renderables(filament::Engine* engine) : material_(engine) {}
 
 Renderables::~Renderables() noexcept {
   while (!entities_.empty()) {
@@ -46,7 +47,7 @@ void Renderables::RemoveLast() {
     assigned_scene_->remove(entity);
   }
 
-  engine_->destroy(entity);
+  GetEngine()->destroy(entity);
   em.destroy(entity);
   entities_.pop_back();
   meshes_.pop_back();
@@ -114,7 +115,7 @@ utils::Entity Renderables::CreateEntity(const Mesh* mesh) {
   builder.priority(priority_);
   builder.screenSpaceContactShadows(true);;
 
-  builder.build(*engine_, entity);
+  builder.build(*GetEngine(), entity);
   if (assigned_scene_) {
     assigned_scene_->addEntity(entity);
   }
@@ -132,13 +133,14 @@ void Renderables::UpdateEntity(utils::Entity entity, const Mesh* mesh) {
     mju_error("Invalid (null) index buffer.");
   }
 
-  filament::RenderableManager& rm = engine_->getRenderableManager();
+  filament::RenderableManager& rm = GetEngine()->getRenderableManager();
   rm.setGeometryAt(rm.getInstance(entity), 0, mesh->GetPrimitiveType(),
                    vertex_buffer, index_buffer, 0,
                    index_buffer->getIndexCount());
 }
 
-void Renderables::UpdateMeshes(int index, const Mesh* mesh, MeshPtr owned_mesh) {
+void Renderables::UpdateMeshes(int index, const Mesh* mesh,
+                               MeshPtr owned_mesh) {
   if (index < 0 || index >= meshes_.size()) {
     mju_error("Invalid index %d for renderable.", index);
   }
@@ -173,7 +175,7 @@ void Renderables::RemoveFromScene(filament::Scene* scene) {
 void Renderables::SetMaterialInstance(
     filament::MaterialInstance* instance) {
   if (instance != material_instance_) {
-    filament::RenderableManager& rm = engine_->getRenderableManager();
+    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (utils::Entity& entity : entities_) {
       filament::RenderableManager::Instance ri = rm.getInstance(entity);
       rm.setMaterialInstanceAt(ri, 0, instance);
@@ -186,7 +188,7 @@ void Renderables::SetLayerMask(std::uint8_t mask) {
   if (mask != layer_mask_) {
     layer_mask_ = mask;
 
-    filament::RenderableManager& rm = engine_->getRenderableManager();
+    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (utils::Entity& entity : entities_) {
       rm.setLayerMask(rm.getInstance(entity), 0xff, layer_mask_);
     }
@@ -197,7 +199,7 @@ void Renderables::SetPriority(std::uint8_t priority) {
   if (priority != priority_) {
     priority_ = priority;
 
-    filament::RenderableManager& rm = engine_->getRenderableManager();
+    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (utils::Entity& entity : entities_) {
       rm.setPriority(rm.getInstance(entity), priority_);
     }
@@ -208,7 +210,7 @@ void Renderables::SetCastShadows(bool cast_shadows) {
   if (cast_shadows_ != cast_shadows) {
     cast_shadows_ = cast_shadows;
 
-    filament::RenderableManager& rm = engine_->getRenderableManager();
+    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (utils::Entity& entity : entities_) {
       rm.setCastShadows(rm.getInstance(entity), cast_shadows_);
     }
@@ -219,7 +221,7 @@ void Renderables::SetReceiveShadows(bool receive_shadows) {
   if (receive_shadows_ != receive_shadows) {
     receive_shadows_ = receive_shadows;
 
-    filament::RenderableManager& rm = engine_->getRenderableManager();
+    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (utils::Entity& entity : entities_) {
       rm.setReceiveShadows(rm.getInstance(entity), receive_shadows_);
     }
@@ -233,7 +235,7 @@ void Renderables::SetWireframe(bool wireframe) {
   if (wireframe != wireframe_) {
     wireframe_ = wireframe;
 
-    filament::RenderableManager& rm = engine_->getRenderableManager();
+    filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (int i = 0; i < entities_.size(); ++i) {
       utils::Entity& entity = entities_[i];
       const Mesh* mesh = meshes_[i].mesh;
@@ -247,4 +249,10 @@ void Renderables::SetWireframe(bool wireframe) {
   }
 }
 
+Material& Renderables::GetMaterial() { return material_; }
+
+filament::Engine* Renderables::GetEngine() {
+  return material_.GetEngine();
+}
+
 }  // namespace mujoco

src/experimental/filament/filament/renderables.h

@@ -21,6 +21,7 @@
 #include <filament/Engine.h>
 #include <filament/Scene.h>
 #include <utils/Entity.h>
+#include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/mesh.h"
 
 namespace mujoco {
@@ -79,8 +80,11 @@ class Renderables {
   // Sets the material instance for all managed entities.
   void SetMaterialInstance(filament::MaterialInstance* material_instance);
 
-  // Returns the filament Engine managing the entities in this collection.
+  // Returns the material for the renderables.
-  filament::Engine* GetEngine() { return engine_; }
+  Material& GetMaterial();
+
+  // Returns the filament Engine managing the renderables.
+  filament::Engine* GetEngine();
 
  private:
   utils::Entity CreateEntity(const Mesh* mesh);
@@ -92,7 +96,7 @@ class Renderables {
     const Mesh* mesh = nullptr;
   };
 
-  filament::Engine* engine_ = nullptr;
+  Material material_;
   filament::Scene* assigned_scene_ = nullptr;
   filament::MaterialInstance* material_instance_ = nullptr;
   std::vector<utils::Entity> entities_;

src/experimental/filament/filament/scene_view.cc

@@ -45,6 +45,7 @@
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/render_target.h"
+#include "experimental/filament/filament/renderables.h"
 #include "experimental/filament/filament/texture.h"
 
 namespace mujoco {
@@ -162,7 +163,7 @@ SceneView::~SceneView() {
     light->RemoveFromScene(scene_);
   }
   for (auto& drawable : drawables_) {
-    drawable->RemoveFromScene(scene_);
+    drawable->GetRenderables().RemoveFromScene(scene_);
   }
   lights_.clear();
   drawables_.clear();
@@ -193,7 +194,7 @@ void SceneView::RemoveFromScene(Light* light) {
 
 void SceneView::AddToScene(Drawable* drawable) {
   if (drawables_.insert(drawable).second) {
-    drawable->AddToScene(scene_);
+    drawable->GetRenderables().AddToScene(scene_);
     if (drawable->GetMaterial().GetParams().reflective) {
       AddReflectiveDrawable(drawable);
     }
@@ -206,7 +207,7 @@ void SceneView::RemoveFromScene(Drawable* drawable) {
     if (it != reflectives_.end()) {
       reflectives_.erase(it);
     }
-    drawable->RemoveFromScene(scene_);
+    drawable->GetRenderables().RemoveFromScene(scene_);
   }
 }
 
@@ -246,7 +247,10 @@ void SceneView::Render(filament::Renderer* renderer,
   SetupCamera(request.camera, viewport, camera_);
 
   for (auto& iter : drawables_) {
-    iter->SetDrawMode(request.draw_mode);
+    Material& material = iter->GetMaterial();
+    Renderables& renderables = iter->GetRenderables();
+    renderables.SetMaterialInstance(
+        material.GetMaterialInstance(request.draw_mode));
   }
 
   filament::View* view = views_[static_cast<int>(request.draw_mode)];
@@ -268,7 +272,7 @@ void SceneView::Render(filament::Renderer* renderer,
       SetupReflectionCamera(drawable->GetTransform(), camera_, reflect_camera_);
 
       // Hide reflective surface from its own reflection pass.
-      drawable->SetLayerMask(0x00);
+      drawable->GetRenderables().SetLayerMask(0x00);
 
       // Render the reflection to its render target.
       reflect_view_->setRenderTarget(
@@ -276,7 +280,7 @@ void SceneView::Render(filament::Renderer* renderer,
       renderer->render(reflect_view_);
 
       // Unhide the reflective surface.
-      drawable->SetLayerMask(0x01);
+      drawable->GetRenderables().SetLayerMask(0x01);
     }
   }