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Rename types to conform to mjr naming conventions.

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PiperOrigin-RevId: 904438811
Change-Id: I77fe14592a4460234e0aff473ee3f530e652bca9
This commit is contained in:
Haroon Qureshi
2026-04-23 07:09:44 -07:00
committed by Copybara-Service
parent fa33310750
commit c1c7643fad
7 changed files with 53 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/filament/filament/imgui_bridge.cc
+8 -8
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@@ -72,8 +72,8 @@ uintptr_t ImguiBridge::UploadImage(uintptr_t tex_id, const uint8_t* pixels,
// new texture.
if (texture == nullptr || texture->GetWidth() != width ||
texture->GetHeight() != height) {
TextureConfig config;
DefaultTextureConfig(&config);
mjrTextureConfig config;
mjr_defaultTextureConfig(&config);
config.width = width;
config.height = height;
config.target = mjTEXTURE_2D;
@@ -89,8 +89,8 @@ uintptr_t ImguiBridge::UploadImage(uintptr_t tex_id, const uint8_t* pixels,
const auto callback =
+[](void* user) { delete[] reinterpret_cast<std::byte*>(user); };
TextureData texture_data;
DefaultTextureData(&texture_data);
mjrTextureData texture_data;
mjr_defaultTextureData(&texture_data);
texture_data.bytes = bytes;
texture_data.nbytes = num_bytes;
texture_data.user_data = bytes;
@@ -106,8 +106,8 @@ void ImguiBridge::CreateTexture(ImTextureData* data) {
mju_error("Unsupported texture format.");
}
TextureConfig config;
DefaultTextureConfig(&config);
mjrTextureConfig config;
mjr_defaultTextureConfig(&config);
config.width = data->Width;
config.height = data->Height;
config.target = mjTEXTURE_2D;
@@ -127,8 +127,8 @@ void ImguiBridge::UpdateTexture(ImTextureData* data) {
mju_error("Texture not found: %llu", data->TexID);
}
TextureData texture_data;
DefaultTextureData(&texture_data);
mjrTextureData texture_data;
mjr_defaultTextureData(&texture_data);
texture_data.bytes = data->GetPixels();
texture_data.nbytes = data->Width * data->Height * 4;
texture_data.user_data = nullptr;
src/experimental/filament/filament/model_objects.cc
+4 -4
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@@ -575,8 +575,8 @@ void ModelObjects::UploadTexture(const mjModel* model, int id) {
mju_error("Invalid texture index: %d", id);
}
TextureConfig config;
DefaultTextureConfig(&config);
mjrTextureConfig config;
mjr_defaultTextureConfig(&config);
config.width = model->tex_width[id];
config.height = model->tex_height[id];
config.target = (mjtTexture)model->tex_type[id];
@@ -600,8 +600,8 @@ void ModelObjects::UploadTexture(const mjModel* model, int id) {
}
TextureData payload;
DefaultTextureData(&payload);
mjrTextureData payload;
mjr_defaultTextureData(&payload);
payload.bytes = model->tex_data + model->tex_adr[id];
payload.nbytes =
model->tex_width[id] * model->tex_height[id] * model->tex_nchannel[id];
src/experimental/filament/filament/render_target.cc
+4 -4
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@@ -51,8 +51,8 @@ void RenderTarget::Prepare(int width, int height) {
width_ = width;
height_ = height;
TextureConfig color_config;
DefaultTextureConfig(&color_config);
mjrTextureConfig color_config;
mjr_defaultTextureConfig(&color_config);
Texture::InternalFlags color_flags;
color_config.width = width;
color_config.height = height;
@@ -63,8 +63,8 @@ void RenderTarget::Prepare(int width, int height) {
color_flags.color_attachment = true;
color_texture_ = std::make_unique<Texture>(engine_, color_config, color_flags);
TextureConfig depth_config;
DefaultTextureConfig(&depth_config);
mjrTextureConfig depth_config;
mjr_defaultTextureConfig(&depth_config);
Texture::InternalFlags depth_flags;
depth_config.width = width;
depth_config.height = height;
src/experimental/filament/filament/render_target.h
+2 -2
View File
@@ -27,8 +27,8 @@ namespace mujoco {
// Defines the basic properties of a render target.
struct RenderTargetConfig {
mjtPixelFormat color_format;
mjtPixelFormat depth_format;
mjrPixelFormat color_format;
mjrPixelFormat depth_format;
};
// Initializes the RenderTargetConfig to default values.
src/experimental/filament/filament/scene_bridge.cc
+5 -5
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@@ -64,8 +64,8 @@ static std::unique_ptr<Texture> CreateFallbackIndirectLightTexture(
std::unique_ptr<ObjectManager::Asset> asset = object_mgr->LoadAsset(filename);
TextureConfig config;
DefaultTextureConfig(&config);
mjrTextureConfig config;
mjr_defaultTextureConfig(&config);
config.width = 1;
config.height = 1;
config.target = mjTEXTURE_CUBE;
@@ -74,9 +74,9 @@ static std::unique_ptr<Texture> CreateFallbackIndirectLightTexture(
auto texture = std::make_unique<Texture>(object_mgr->GetEngine(), config);
TextureData payload;
DefaultTextureData(&payload);
payload.bytes = (void*)asset->GetBytes().data();
mjrTextureData payload;
mjr_defaultTextureData(&payload);
payload.bytes = asset->GetBytes().data();
payload.nbytes = asset->GetBytes().size();
payload.release_callback = +[](void* user_data) {
delete static_cast<ObjectManager::Asset*>(user_data);
src/experimental/filament/filament/texture.cc
+12 -12
View File
@@ -29,15 +29,15 @@ namespace mujoco {
static constexpr int kNumFacesPerCube = 6;
static bool IsCompressed(const TextureConfig& config) {
static bool IsCompressed(const mjrTextureConfig& config) {
return config.format == mjPIXEL_FORMAT_KTX;
}
static bool IsCubeMap(const TextureConfig& config) {
static bool IsCubeMap(const mjrTextureConfig& config) {
return config.target == mjTEXTURE_CUBE || config.target == mjTEXTURE_SKYBOX;
}
static int GetFaceHeight(const TextureConfig& config) {
static int GetFaceHeight(const mjrTextureConfig& config) {
int face_height = config.height;
if (config.width != config.height) {
if (config.width * kNumFacesPerCube != config.height) {
@@ -51,7 +51,7 @@ static int GetFaceHeight(const TextureConfig& config) {
return face_height;
}
static int GetNumChannels(const TextureConfig& config) {
static int GetNumChannels(const mjrTextureConfig& config) {
switch (config.format) {
case mjPIXEL_FORMAT_R8:
return 1;
@@ -65,7 +65,7 @@ static int GetNumChannels(const TextureConfig& config) {
}
}
static filament::Texture::Format GetTextureFormat(const TextureConfig& config) {
static filament::Texture::Format GetTextureFormat(const mjrTextureConfig& config) {
switch (config.format) {
case mjPIXEL_FORMAT_R8:
return filament::Texture::Format::R;
@@ -80,7 +80,7 @@ static filament::Texture::Format GetTextureFormat(const TextureConfig& config) {
}
static filament::Texture::InternalFormat GetTextureInternalFormat(
const TextureConfig& config) {
const mjrTextureConfig& config) {
if (config.color_space == mjCOLORSPACE_SRGB) {
switch (config.format) {
case mjPIXEL_FORMAT_RGB8:
@@ -110,15 +110,15 @@ static filament::Texture::InternalFormat GetTextureInternalFormat(
}
}
void DefaultTextureData(TextureData* data) {
std::memset(data, 0, sizeof(TextureData));
void mjr_defaultTextureData(mjrTextureData* data) {
std::memset(data, 0, sizeof(mjrTextureData));
}
void DefaultTextureConfig(TextureConfig* config) {
std::memset(config, 0, sizeof(TextureConfig));
void mjr_defaultTextureConfig(mjrTextureConfig* config) {
std::memset(config, 0, sizeof(mjrTextureConfig));
}
Texture::Texture(filament::Engine* engine, const TextureConfig& config,
Texture::Texture(filament::Engine* engine, const mjrTextureConfig& config,
InternalFlags flags)
: engine_(engine), config_(config) {
if (IsCompressed(config_)) {
@@ -166,7 +166,7 @@ Texture::~Texture() {
}
}
void Texture::Upload(const TextureData& data) {
void Texture::Upload(const mjrTextureData& data) {
user_data_ = data.user_data;
release_callback_ = data.release_callback;
src/experimental/filament/filament/texture.h
+18 -14
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@@ -21,12 +21,13 @@
#include <filament/Texture.h>
#include <math/vec3.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
// Functions for creating filament textures.
namespace mujoco {
// Pixel formats for textures.
typedef enum mjtPixelFormat_ {
typedef enum mjrPixelFormat_ {
mjPIXEL_FORMAT_UNKNOWN = 0,
mjPIXEL_FORMAT_R8,
mjPIXEL_FORMAT_RGB8,
@@ -34,15 +35,18 @@ typedef enum mjtPixelFormat_ {
mjPIXEL_FORMAT_R32F,
mjPIXEL_FORMAT_DEPTH32F,
mjPIXEL_FORMAT_KTX,
} mjtPixelFormat;
} mjrPixelFormat;
typedef mjtTexture mjrTextureTarget;
typedef mjtColorSpace mjrColorSpace;
// The binary contents of a texture.
struct TextureData {
struct mjrTextureData {
// Pointer to the image data. If null, an empty texture will be created.
void* bytes;
const void* bytes;
// The number of bytes in the image data.
size_t nbytes;
mjtSize nbytes;
// Because rendering may be multithreaded, we cannot make assumptions about
// when the image data will finish uploading to the GPU. As such, we will use
@@ -54,10 +58,10 @@ struct TextureData {
};
// Initializes the TextureData to default values.
void DefaultTextureData(TextureData* data);
void mjr_defaultTextureData(mjrTextureData* data);
// Defines the basic properties of a texture.
struct TextureConfig {
struct mjrTextureConfig {
// The width of the texture. For compressed textures (e.g. KTX), this is the
// number of bytes in the compressed data.
int width;
@@ -67,17 +71,17 @@ struct TextureConfig {
int height;
// The target of the texture (e.g. 2D, cube, etc.)
mjtTexture target;
mjrTextureTarget target;
// The format of the pixels in the texture (e.g. RGB8, RGBA8, KTX, etc.)
mjtPixelFormat format;
mjrPixelFormat format;
// The color space of the texture (e.g. LINEAR, sRGB, etc.)
mjtColorSpace color_space;
mjrColorSpace color_space;
};
// Initializes the TextureConfig to default values.
void DefaultTextureConfig(TextureConfig* config);
void mjr_defaultTextureConfig(mjrTextureConfig* config);
// Wrapper around a filament::Texture.
class Texture {
@@ -90,13 +94,13 @@ class Texture {
};
// Creates a texture with the given data.
Texture(filament::Engine* engine, const TextureConfig& config,
Texture(filament::Engine* engine, const mjrTextureConfig& config,
InternalFlags flags = InternalFlags());
~Texture();
// Uploads the given data to the texture.
void Upload(const TextureData& data);
void Upload(const mjrTextureData& data);
// Returns the width of the texture.
int GetWidth() const { return config_.width; }
@@ -121,7 +125,7 @@ class Texture {
filament::Engine* engine_ = nullptr;
filament::Texture* texture_ = nullptr;
TextureConfig config_;
mjrTextureConfig config_;
SphericalHarmonics spherical_harmonics_;
bool has_spherical_harmonics_ = false;