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Pass filament::Engine instead of FilamentContext

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for textures, meshes, and render targets.

PiperOrigin-RevId: 911770834
Change-Id: I081458e118f0e91091d6d4df7b760e9dbb321672
This commit is contained in:
Haroon Qureshi
2026-05-06 23:43:57 -07:00
committed by Copybara-Service
parent 0f53f55853
commit b6aac76cc4
8 changed files with 22 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/filament/filament/mesh.cc
+2 -3
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@@ -32,7 +32,6 @@
#include <math/vec3.h>
#include <math/vec4.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/filament_context.h"
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/render_context_filament.h"
@@ -103,8 +102,8 @@ int FillSequence(std::byte* buffer, std::size_t num_bytes) {
return num;
}
Mesh::Mesh(FilamentContext* ctx, const mjrMeshData& data)
: engine_(ctx->GetEngine()), shared_state_(std::make_shared<SharedState>()) {
Mesh::Mesh(filament::Engine* engine, const mjrMeshData& data)
: engine_(engine), shared_state_(std::make_shared<SharedState>()) {
type_ = data.primitive_type == mjMESH_PRIMITIVE_TYPE_TRIANGLES
? filament::RenderableManager::PrimitiveType::TRIANGLES
: filament::RenderableManager::PrimitiveType::LINES;
src/experimental/filament/filament/mesh.h
+1 -3
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@@ -29,7 +29,6 @@
#include <filament/RenderableManager.h>
#include <filament/VertexBuffer.h>
#include <math/vec4.h>
#include "experimental/filament/filament/filament_context.h"
#include "experimental/filament/render_context_filament.h"
// Functions for creating filament vertex and index buffers.
@@ -39,8 +38,7 @@ namespace mujoco {
class Mesh : public mjrMesh {
public:
// Creates a Mesh from the given MeshData.
Mesh(FilamentContext* ctx, const mjrMeshData& data);
Mesh(filament::Engine* engine, const mjrMeshData& data);
~Mesh();
Mesh(const Mesh&) = delete;
src/experimental/filament/filament/render_target.cc
+6 -7
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@@ -26,15 +26,14 @@
#include <filament/RenderTarget.h>
#include <filament/Texture.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/filament_context.h"
#include "experimental/filament/filament/texture.h"
#include "experimental/filament/render_context_filament.h"
namespace mujoco {
RenderTarget::RenderTarget(FilamentContext* ctx,
RenderTarget::RenderTarget(filament::Engine* engine,
const mjrRenderTargetConfig& config)
: ctx_(ctx), config_(config) {
: engine_(engine), config_(config) {
if (config_.width > 0 && config_.height > 0) {
Prepare(config_.width, config_.height);
}
@@ -67,7 +66,7 @@ void RenderTarget::Prepare(int width, int height) {
color_config.color_space = mjCOLORSPACE_LINEAR;
color_config.format = mjPIXEL_FORMAT_RGB8;
color_flags.color_attachment = true;
color_texture_ = std::make_unique<Texture>(ctx_, color_config, color_flags);
color_texture_ = std::make_unique<Texture>(engine_, color_config, color_flags);
mjrTextureConfig depth_config;
mjr_defaultTextureConfig(&depth_config);
@@ -79,14 +78,14 @@ void RenderTarget::Prepare(int width, int height) {
depth_config.color_space = mjCOLORSPACE_LINEAR;
depth_config.format = mjPIXEL_FORMAT_DEPTH32F;
depth_flags.depth_attachment = true;
depth_texture_ = std::make_unique<Texture>(ctx_, depth_config, depth_flags);
depth_texture_ = std::make_unique<Texture>(engine_, depth_config, depth_flags);
filament::RenderTarget::Builder builder;
builder.texture(filament::RenderTarget::AttachmentPoint::COLOR,
color_texture_->GetFilamentTexture());
builder.texture(filament::RenderTarget::AttachmentPoint::DEPTH,
depth_texture_->GetFilamentTexture());
render_target_ = builder.build(*ctx_->GetEngine());
render_target_ = builder.build(*engine_);
}
void RenderTarget::ReadColorPixels(filament::Renderer* renderer, uint8_t* bytes,
@@ -120,7 +119,7 @@ void RenderTarget::ReadColorPixels(filament::Renderer* renderer, uint8_t* bytes,
void RenderTarget::Destroy() {
if (render_target_) {
ctx_->GetEngine()->destroy(render_target_);
engine_->destroy(render_target_);
render_target_ = nullptr;
}
color_texture_.reset();
src/experimental/filament/filament/render_target.h
+2 -3
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@@ -21,7 +21,6 @@
#include <filament/Engine.h>
#include <filament/Texture.h>
#include "experimental/filament/filament/filament_context.h"
#include "experimental/filament/filament/texture.h"
#include "experimental/filament/render_context_filament.h"
@@ -32,7 +31,7 @@ class RenderTarget : public mjrRenderTarget {
public:
// Defines the types of textures to create for the color and depth
// attachments.
RenderTarget(FilamentContext* ctx, const mjrRenderTargetConfig& config);
RenderTarget(filament::Engine* engine, const mjrRenderTargetConfig& config);
~RenderTarget() noexcept;
RenderTarget(const RenderTarget&) = delete;
@@ -65,7 +64,7 @@ class RenderTarget : public mjrRenderTarget {
private:
void Destroy();
FilamentContext* ctx_ = nullptr;
filament::Engine* engine_ = nullptr;
mjrRenderTargetConfig config_;
filament::RenderTarget* render_target_ = nullptr;
std::unique_ptr<Texture> color_texture_ = nullptr;
src/experimental/filament/filament/scene_view.cc
+2 -1
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@@ -308,7 +308,8 @@ void SceneView::AddReflectiveRenderable(Renderable* renderable) {
config.color_format = mjPIXEL_FORMAT_RGBA8;
config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
reflect_targets_.push_back(std::make_unique<RenderTarget>(ctx_, config));
reflect_targets_.push_back(
std::make_unique<RenderTarget>(ctx_->GetEngine(), config));
}
// Prepare a render target for the reflective renderable.
src/experimental/filament/filament/texture.cc
+2 -3
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@@ -24,7 +24,6 @@
#include <image/Ktx1Bundle.h>
#include <ktxreader/Ktx1Reader.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/filament_context.h"
#include "experimental/filament/render_context_filament.h"
namespace mujoco {
@@ -112,9 +111,9 @@ static filament::Texture::InternalFormat GetTextureInternalFormat(
}
}
Texture::Texture(FilamentContext* ctx, const mjrTextureConfig& config,
Texture::Texture(filament::Engine* engine, const mjrTextureConfig& config,
InternalFlags flags)
: engine_(ctx->GetEngine()), config_(config) {
: engine_(engine), config_(config) {
if (IsCompressed(config_)) {
// We defer creation of compressed textures until Upload() is called. In
// the meantime, we don't really know anything about the texture (e.g.
src/experimental/filament/filament/texture.h
+1 -2
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@@ -18,7 +18,6 @@
#include <filament/Engine.h>
#include <filament/Texture.h>
#include <math/vec3.h>
#include "experimental/filament/filament/filament_context.h"
#include "experimental/filament/render_context_filament.h"
// Functions for creating filament textures.
@@ -35,7 +34,7 @@ class Texture : public mjrTexture {
};
// Creates a texture with the given data.
Texture(FilamentContext* ctx, const mjrTextureConfig& config,
Texture(filament::Engine* engine, const mjrTextureConfig& config,
InternalFlags flags = InternalFlags());
~Texture();
src/experimental/filament/render_context_filament.cc
+6 -5
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@@ -154,7 +154,8 @@ void mjrf_destroyContext(mjrfContext* ctx) {
}
mjrTexture* mjrf_createTexture(mjrfContext* ctx, const mjrTextureConfig* cfg) {
return new mujoco::Texture(mujoco::FilamentContext::downcast(ctx), *cfg);
return new mujoco::Texture(
mujoco::FilamentContext::downcast(ctx)->GetEngine(), *cfg);
}
void mjrf_destroyTexture(mjrTexture* texture) {
@@ -162,7 +163,8 @@ void mjrf_destroyTexture(mjrTexture* texture) {
}
mjrMesh* mjrf_createMesh(mjrfContext* ctx, const mjrMeshData* data) {
return new mujoco::Mesh(mujoco::FilamentContext::downcast(ctx), *data);
return new mujoco::Mesh(mujoco::FilamentContext::downcast(ctx)->GetEngine(),
*data);
}
void mjrf_destroyMesh(mjrMesh* mesh) { delete mujoco::Mesh::downcast(mesh); }
@@ -195,15 +197,14 @@ void mjrf_destroyRenderable(mjrRenderable* renderable) {
mjrRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx,
const mjrRenderTargetConfig* config) {
return new mujoco::RenderTarget(mujoco::FilamentContext::downcast(ctx),
*config);
return new mujoco::RenderTarget(
mujoco::FilamentContext::downcast(ctx)->GetEngine(), *config);
}
void mjrf_destroyRenderTarget(mjrRenderTarget* render_target) {
delete mujoco::RenderTarget::downcast(render_target);
}
void mjrf_setTextureData(mjrTexture* texture, const mjrTextureData* data) {
mujoco::Texture::downcast(texture)->Upload(*data);
}