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

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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
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src/render/filament/support/mesh_util.cc
+47 -30
View File
@@ -362,43 +362,47 @@ static void FillSkinVertices(T* vertices, const mjModel* model,
}
}
static mjrfMeshData PrepareMeshData(int num_vertices, bool has_uvs) {
mjrfMeshData mesh_data;
mjrf_defaultMeshData(&mesh_data);
static void PrepareMeshData(mjrfMeshConfig* config, mjrfMeshData* data,
int num_vertices, bool has_uvs) {
mjrf_defaultMeshConfig(config);
config->max_vertices = num_vertices;
config->num_attributes = has_uvs ? 3 : 2;
config->interleaved = true;
config->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
config->max_indices = num_vertices;
config->index_type = mjINDEX_TYPE_U32;
config->attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
config->attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
config->attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_TANGENTS;
config->attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT4;
if (has_uvs) {
config->attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
config->attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
}
mjrf_defaultMeshData(data);
if (has_uvs) {
const int nbytes = sizeof(VertexWithUv) * num_vertices;
mesh_data.user_data = new char[nbytes];
std::memset(mesh_data.user_data, 0, nbytes);
data->user_data = new char[nbytes];
std::memset(data->user_data, 0, nbytes);
} else {
const int nbytes = sizeof(VertexNoUv) * num_vertices;
mesh_data.user_data = new char[nbytes];
std::memset(mesh_data.user_data, 0, nbytes);
data->user_data = new char[nbytes];
std::memset(data->user_data, 0, nbytes);
}
mesh_data.release = [](void* user_data) {
data->release = [](void* user_data) {
delete[] (char*)(user_data);
};
char* buf = reinterpret_cast<char*>(mesh_data.user_data);
mesh_data.num_vertices = num_vertices;
mesh_data.num_attributes = has_uvs ? 3 : 2;
mesh_data.interleaved = true;
mesh_data.attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
mesh_data.attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
mesh_data.attributes[0].bytes = buf;
mesh_data.attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_TANGENTS;
mesh_data.attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT4;
mesh_data.attributes[1].bytes = buf + sizeof(float[3]);
char* buf = reinterpret_cast<char*>(data->user_data);
data->num_vertices = num_vertices;
data->vertices[0] = buf;
data->vertices[1] = buf + sizeof(float[3]);
if (has_uvs) {
mesh_data.attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
mesh_data.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
mesh_data.attributes[2].bytes = buf + sizeof(float[7]);
data->vertices[2] = buf + sizeof(float[7]);
}
mesh_data.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
mesh_data.num_indices = num_vertices;
mesh_data.index_type = mjINDEX_TYPE_U32;
mesh_data.indices = nullptr;
return mesh_data;
data->num_indices = num_vertices;
data->indices = nullptr;
}
static void SetBounds(mjrfMeshData* mesh_data, const float3& min_pt,
@@ -428,7 +432,10 @@ UniquePtr<mjrfMesh> CreateFlexMesh(mjrfContext* ctx, const mjModel* model,
const int num_vertices = num_faces * 3;
const bool has_uvs = model->flex_texcoordadr[flex_id] >= 0;
mjrfMeshData mesh_data = PrepareMeshData(num_vertices, has_uvs);
mjrfMeshConfig mesh_config;
mjrfMeshData mesh_data;
PrepareMeshData(&mesh_config, &mesh_data, num_vertices, has_uvs);
float3 min_pt = float3(FLT_MAX);
float3 max_pt = float3(FLT_MIN);
@@ -440,14 +447,21 @@ UniquePtr<mjrfMesh> CreateFlexMesh(mjrfContext* ctx, const mjModel* model,
FillFlexVertices(vertices, model, data, flex_id, &min_pt, &max_pt);
}
SetBounds(&mesh_data, min_pt, max_pt);
return CreateMesh(ctx, mesh_data);
auto mesh = CreateMesh(ctx, mesh_config);
mjrf_setMeshData(mesh.get(), &mesh_data);
return mesh;
}
UniquePtr<mjrfMesh> CreateSkinMesh(mjrfContext* ctx, const mjModel* model,
const mjData* data, int skin_id) {
const int num_vertices = model->skin_vertnum[skin_id];
const bool has_uvs = model->skin_texcoordadr[skin_id] >= 0;
mjrfMeshData mesh_data = PrepareMeshData(num_vertices, has_uvs);
mjrfMeshConfig mesh_config;
mjrfMeshData mesh_data;
PrepareMeshData(&mesh_config, &mesh_data, num_vertices, has_uvs);
float3 min_pt = float3(FLT_MAX);
float3 max_pt = float3(FLT_MIN);
@@ -461,7 +475,10 @@ UniquePtr<mjrfMesh> CreateSkinMesh(mjrfContext* ctx, const mjModel* model,
mesh_data.num_indices = 3 * model->skin_facenum[skin_id];
mesh_data.indices = model->skin_face + 3 * model->skin_faceadr[skin_id];
SetBounds(&mesh_data, min_pt, max_pt);
return CreateMesh(ctx, mesh_data);
auto mesh = CreateMesh(ctx, mesh_config);
mjrf_setMeshData(mesh.get(), &mesh_data);
return mesh;
}
void GatherSpatialTendonPoints(const mjModel* model, const mjData* data,