Pass filament::Engine instead of FilamentContext

for textures, meshes, and render targets.

PiperOrigin-RevId: 911770834
Change-Id: I081458e118f0e91091d6d4df7b760e9dbb321672

src/experimental/filament/filament/mesh.cc

@@ -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)
+Mesh::Mesh(filament::Engine* engine, const mjrMeshData& data)
-    : engine_(ctx->GetEngine()), shared_state_(std::make_shared<SharedState>()) {
+    : 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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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),
+  return new mujoco::RenderTarget(
-                                  *config);
+      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);
 }