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Split the core filament context from the mjr_ API compatibility layer.

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PiperOrigin-RevId: 904305762
Change-Id: I462068a847a21be8ad7f3f1a8889f6b5b2aa2d5f
This commit is contained in:
Haroon Qureshi
2026-04-23 01:37:01 -07:00
committed by Copybara-Service
parent e8ebc994d2
commit c41ed42407
5 changed files with 411 additions and 231 deletions
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src/experimental/filament/render_context_filament.cc
+5 -5
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@@ -21,13 +21,13 @@
#include <mujoco/mjrender.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/filament_context.h"
#include "experimental/filament/filament/mjr_filament_renderer.h"
#if defined(TLS_FILAMENT_CONTEXT)
static thread_local mujoco::FilamentContext* g_filament_context = nullptr;
static thread_local mujoco::MjrFilamentRenderer* g_filament_context = nullptr;
#else
static mujoco::FilamentContext* g_filament_context = nullptr;
static mujoco::MjrFilamentRenderer* g_filament_context = nullptr;
#endif
static void CheckFilamentContext() {
@@ -43,13 +43,13 @@ void mjrf_defaultFilamentConfig(mjrFilamentConfig* config) {
}
void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
const mjrFilamentConfig* config) {
const mjrFilamentConfig* config) {
// TODO: Support multiple contexts and multiple threads. For now, we'll just
// assume a single, global context.
if (g_filament_context != nullptr) {
mju_error("Context already exists!");
}
g_filament_context = new mujoco::FilamentContext(config);
g_filament_context = new mujoco::MjrFilamentRenderer(config);
g_filament_context->Init(m);
}