chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Allow mesh data to be reuploaded without having to recreate the mesh.

Browse Source 
Splits mjrfMeshData into config+data parts.

PiperOrigin-RevId: 952042545
Change-Id: I19a572a0f591fa0d33bbc2c32b974efc075310f4
This commit is contained in:
Haroon Qureshi
2026-07-22 04:55:59 -07:00
committed by Copybara-Service
parent d3166cb630
commit ba9a65031b
19 changed files with 469 additions and 321 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/includes/references.h
+14 -8
View File
@@ -1425,7 +1425,6 @@ typedef struct mjrRendererInfo_ { // active renderer identity
const char* backend; // graphics backend: opengl, vulkan; empty if uninitialized
} mjrRendererInfo;
typedef struct mjrVertexAttribute_ { // vertex attribute format specification
const void* bytes; // vertex data
int usage; // position, normal, etc [mjrVertexAttributeUsage]
int type; // float3, ubyte4, etc. [mjrVertexAttributeType]
} mjrVertexAttribute;
@@ -1580,15 +1579,20 @@ typedef struct mjrfTextureData_ {
mjrfCallback release; // callback when data has finished uploading
void* user_data; // user data for release callback
} mjrfTextureData;
typedef struct mjrfMeshData_ {
mjtSize num_vertices; // number of vertices; all vertex attributes share this size
int num_attributes; // number of attributes defined
typedef struct mjrfMeshConfig_ {
mjtSize max_vertices; // maximum number of vertices
mjtSize max_indices; // maximum number of indices
int num_attributes; // number of defined attributes
mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES]; // per-vertex attribute information
mjtBool interleaved; // true if vertex attributes are interleaved
mjtSize num_indices; // number of indices
const void* indices; // indices data array
int index_type; // index data format (e.g. UINT16 or UINT32) [mjrIndexType]
int primitive_type; // index interpretation (e.g. TRIANGLES, etc.) [mjrMeshPrimitiveType]
} mjrfMeshConfig;
typedef struct mjrfMeshData_ {
mjtSize num_vertices; // number of vertices
const void* vertices[mjMAX_VERTEX_ATTRIBUTES]; // per-vertex attribute data arrays
mjtSize num_indices; // number of indices
const void* indices; // indices data array
mjtBool compute_bounds; // if true, compute bounds from vertex positions
float bounds_min[3]; // min/max bounds; assume unset if bounds_min == bounds_max
float bounds_max[3];
@@ -3422,9 +3426,11 @@ void mjrf_setTextureData(mjrfTexture* texture, const mjrfTextureData* data);
int mjrf_getTextureWidth(const mjrfTexture* texture);
int mjrf_getTextureHeight(const mjrfTexture* texture);
int mjrf_getTextureSamplerType(const mjrfTexture* texture);
void mjrf_defaultMeshData(mjrfMeshData* data);
mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshData* data);
void mjrf_defaultMeshConfig(mjrfMeshConfig* config);
mjrfMesh* mjrf_createMesh(mjrfContext* ctx, const mjrfMeshConfig* config);
void mjrf_destroyMesh(mjrfMesh* mesh);
void mjrf_defaultMeshData(mjrfMeshData* data);
void mjrf_setMeshData(mjrfMesh* mesh, const mjrfMeshData* data);
void mjrf_defaultSceneParams(mjrfSceneParams* params);
mjrfScene* mjrf_createScene(mjrfContext* ctx, const mjrfSceneParams* params);
void mjrf_destroyScene(mjrfScene* scene);