Rename IndexType USHORT/UINT to U16/U32.

PiperOrigin-RevId: 906026433
Change-Id: I0016c1923560fc8517e5388ed6068d54b84d5923

src/experimental/filament/compat/imgui_bridge.cc

@@ -230,7 +230,7 @@ void ImguiBridge::Update() {
     data.nvertices = cmds->VtxBuffer.Size;
     data.nindices = cmds->IdxBuffer.Size;
     data.indices = cmds->IdxBuffer.Data;
-    data.index_type = mjINDEX_TYPE_USHORT;
+    data.index_type = mjINDEX_TYPE_U16;
     data.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
     meshes_.push_back(std::make_unique<Mesh>(scene_view_->GetEngine(), data));
 

src/experimental/filament/compat/model_objects.cc

@@ -445,8 +445,8 @@ static void UpdatemjrMeshData(mjrMeshData* data, const mjModel* model, int id,
   data->nindices = data->nvertices;
   data->indices = nullptr;
   data->index_type = data->nvertices >= std::numeric_limits<uint16_t>::max()
-                         ? mjINDEX_TYPE_UINT
-                         : mjINDEX_TYPE_USHORT;
+                         ? mjINDEX_TYPE_U32
+                         : mjINDEX_TYPE_U16;
   data->nattributes = has_uvs ? 3 : 2;
   data->attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
   data->attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
@@ -492,7 +492,7 @@ void UpdateSkinFlexmjrMeshData(mjrMeshData* data, const mjModel* model,
   data->nvertices = positions.size() / 3;
   data->nindices = num_indices;
   data->indices = indices.data();
-  data->index_type = mjINDEX_TYPE_UINT;
+  data->index_type = mjINDEX_TYPE_U32;
   data->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
   data->compute_bounds = true;
   data->release_callback = nullptr;

src/experimental/filament/filament/builtins.cc

@@ -93,7 +93,7 @@ class BuiltinBuilder : mjrMeshData {
         primitive_type_ == filament::backend::PrimitiveType::TRIANGLES
             ? mjMESH_PRIMITIVE_TYPE_TRIANGLES
             : mjMESH_PRIMITIVE_TYPE_LINES;
-    index_type = mjINDEX_TYPE_USHORT;
+    index_type = mjINDEX_TYPE_U16;
     bounds_min[0] = bounds_.getMin().x;
     bounds_min[1] = bounds_.getMin().y;
     bounds_min[2] = bounds_.getMin().z;

src/experimental/filament/filament/mesh.cc

@@ -262,7 +262,7 @@ void Mesh::BuildIndexBuffer(const mjrMeshData& data) {
     return;
   }
 
-  const int element_size = data.index_type == mjINDEX_TYPE_USHORT
+  const int element_size = data.index_type == mjINDEX_TYPE_U16
                                 ? sizeof(uint16_t)
                                 : sizeof(uint32_t);
   const int num_bytes = data.nindices * element_size;
@@ -277,7 +277,7 @@ void Mesh::BuildIndexBuffer(const mjrMeshData& data) {
       delete[] sequence;
     });
 
-    if (data.index_type == mjINDEX_TYPE_USHORT) {
+    if (data.index_type == mjINDEX_TYPE_U16) {
       FillSequence<uint16_t>(sequence, num_bytes);
     } else {
       FillSequence<uint32_t>(sequence, num_bytes);
@@ -287,7 +287,7 @@ void Mesh::BuildIndexBuffer(const mjrMeshData& data) {
 
   filament::IndexBuffer::Builder ib_builder;
   ib_builder.indexCount(data.nindices);
-  ib_builder.bufferType(data.index_type == mjINDEX_TYPE_USHORT
+  ib_builder.bufferType(data.index_type == mjINDEX_TYPE_U16
                             ? filament::IndexBuffer::IndexType::USHORT
                             : filament::IndexBuffer::IndexType::UINT);
   index_buffer_ = ib_builder.build(*engine_);

src/experimental/filament/filament/mesh.h

@@ -37,8 +37,8 @@ namespace mujoco {
 
 // The type of data stored in an index buffer.
 typedef enum mjrIndexType_ {
-  mjINDEX_TYPE_USHORT = 0,
-  mjINDEX_TYPE_UINT = 1,
+  mjINDEX_TYPE_U16 = 0,
+  mjINDEX_TYPE_U32 = 1,
 } mjrIndexType;
 
 // The type of primitive to be drawn by vertex data.