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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/model_objects.cc
+46 -25
View File
@@ -329,8 +329,8 @@ static int GetNumVertices(const mjModel* model, int id, MeshType mesh_type) {
}
}
static void UpdateMeshData(mjrfMeshData* data, const mjModel* model, int id,
MeshType mesh_type) {
static void UpdateMeshData(mjrfMeshConfig* config, mjrfMeshData* data,
const mjModel* model, int id, MeshType mesh_type) {
if (!IsValidIndex(model, id, mesh_type)) {
mju_error("Invalid index %d for type %d", id, mesh_type);
return;
@@ -357,24 +357,29 @@ static void UpdateMeshData(mjrfMeshData* data, const mjModel* model, int id,
break;
}
data->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
data->num_vertices = num_vertices;
data->num_indices = data->num_vertices;
data->indices = nullptr;
data->index_type = data->num_vertices >= std::numeric_limits<uint16_t>::max()
? mjINDEX_TYPE_U32
: mjINDEX_TYPE_U16;
data->num_attributes = has_uvs ? 3 : 2;
data->attributes[0].usage = mjVERTEX_ATTRIBUTE_USAGE_POSITION;
data->attributes[0].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT3;
data->attributes[0].bytes = builder->positions.data();
data->attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_TANGENTS;
data->attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT4;
data->attributes[1].bytes = builder->orientations.data();
config->max_vertices = num_vertices;
config->max_indices = num_vertices;
config->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
config->index_type = num_vertices >= std::numeric_limits<uint16_t>::max()
? mjINDEX_TYPE_U32
: mjINDEX_TYPE_U16;
config->num_attributes = has_uvs ? 3 : 2;
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) {
data->attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
data->attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
data->attributes[2].bytes = builder->uvs.data();
config->attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
config->attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
}
data->num_vertices = num_vertices;
data->num_indices = num_vertices;
data->indices = nullptr;
data->vertices[0] = builder->positions.data();
data->vertices[1] = builder->orientations.data();
if (has_uvs) {
data->vertices[2] = builder->uvs.data();
}
data->bounds_min[0] = builder->bounds_min.x;
data->bounds_min[1] = builder->bounds_min.y;
@@ -415,16 +420,27 @@ void ModelObjects::UploadMesh(const mjModel* model, int id) {
meshes_.erase(id);
convex_hulls_.erase(id);
mjrfMeshConfig config;
mjrf_defaultMeshConfig(&config);
mjrfMeshData data;
mjrf_defaultMeshData(&data);
UpdateMeshData(&data, model, id, MeshType::kNormal);
meshes_.insert_or_assign(id, CreateMesh(ctx_, data));
UpdateMeshData(&config, &data, model, id, MeshType::kNormal);
auto mesh = CreateMesh(ctx_, config);
mjrf_setMeshData(mesh.get(), &data);
meshes_.insert_or_assign(id, std::move(mesh));
if (model->mesh_graphadr[id] >= 0) {
mjrfMeshConfig convex_hull_config;
mjrf_defaultMeshConfig(&convex_hull_config);
mjrfMeshData convex_hull_data;
mjrf_defaultMeshData(&convex_hull_data);
UpdateMeshData(&convex_hull_data, model, id, MeshType::kConvexHull);
convex_hulls_.insert_or_assign(id, CreateMesh(ctx_, convex_hull_data));
UpdateMeshData(&convex_hull_config, &convex_hull_data, model, id,
MeshType::kConvexHull);
auto convex_hull = CreateMesh(ctx_, convex_hull_config);
mjrf_setMeshData(convex_hull.get(), &convex_hull_data);
convex_hulls_.insert_or_assign(id, std::move(convex_hull));
}
}
@@ -484,10 +500,15 @@ void ModelObjects::UploadHeightField(const mjModel* model, int id) {
height_fields_.erase(id);
mjrfMeshConfig config;
mjrf_defaultMeshConfig(&config);
mjrfMeshData data;
mjrf_defaultMeshData(&data);
UpdateMeshData(&data, model, id, MeshType::kHeightField);
height_fields_.insert_or_assign(id, CreateMesh(ctx_, data));
UpdateMeshData(&config, &data, model, id, MeshType::kHeightField);
auto mesh = CreateMesh(ctx_, config);
mjrf_setMeshData(mesh.get(), &data);
height_fields_.insert_or_assign(id, std::move(mesh));
}
const mjrfMesh* ModelObjects::GetMesh(int data_id) const {