Implement SceneDecorator class.
Helper class that creates "decor" renderables using an mjvScene. PiperOrigin-RevId: 943915073 Change-Id: Iae1efbe376dc21430387b10d7200451187522828
This commit is contained in:
Haroon Qureshi
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Copybara-Service
Copybara-Service
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4ab8617429
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c4c2cad503
@@ -23,6 +23,8 @@ target_sources(${MUJOCO_FILAMENT_EXPERIMENTAL_TARGET_NAME}
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PUBLIC
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compat/scene_bridge.cc
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compat/scene_bridge.h
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compat/scene_decorator.cc
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compat/scene_decorator.h
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compat/scene_geom_util.cc
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compat/scene_geom_util.h
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compat/scene_objects.cc
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@@ -0,0 +1,183 @@
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "experimental/filament/compat/scene_decorator.h"
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#include <algorithm>
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#include <cstring>
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#include <span>
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#include <utility>
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#include <math/TMatHelpers.h>
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#include <math/mat4.h>
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#include <math/vec3.h>
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#include <math/vec4.h>
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#include <mujoco/mjrfilament.h>
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#include <mujoco/mujoco.h>
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#include "render/filament/mjrfilament_cpp.h"
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#include "render/filament/support/model_objects.h"
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namespace mujoco {
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using filament::math::float3;
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using filament::math::float4;
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using filament::math::mat4;
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SceneDecorator::SceneDecorator(mjrfScene* scene, ModelObjects* model_objects,
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int num_geoms)
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: scene_(scene), model_objects_(model_objects) {
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std::memset(&mjv_scene_, 0, sizeof(mjvScene));
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mjv_makeScene(model_objects_->GetModel(), &mjv_scene_, 2000);
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}
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SceneDecorator::~SceneDecorator() {
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mjv_freeScene(&mjv_scene_);
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}
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static mat4 CalcClipFromWorld(const mjModel* model, const mjData* data,
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mjvCamera mjv_camera, const mjrRect& viewport) {
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if (mjv_camera.type == mjCAMERA_TRACKING) {
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int bid = mjv_camera.trackbodyid;
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if (bid < 0 || bid >= model->nbody) {
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mju_error("track body id is outside valid range");
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}
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mju_copy3(mjv_camera.lookat, data->subtree_com + 3 * bid);
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}
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mjtNum headpos[3], forward[3], up[3];
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mjv_cameraFrame(headpos, forward, up, nullptr, data, &mjv_camera);
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float zver[2], zhor[2], zclip[2] = {0, 0};
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mjv_cameraFrustum(zver, zhor, zclip, model, &mjv_camera);
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const float frustum_top = zver[0];
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const float frustum_bottom = -zver[1];
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const float frustum_center = (zhor[1] - zhor[0]) / 2;
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const float frustum_width = (zhor[1] + zhor[0]) / 2;
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const float frustum_near = zclip[0];
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const float frustum_far = zclip[1];
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bool orthographic = model->vis.global.orthographic;
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if (mjv_camera.type == mjCAMERA_FIXED) {
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const int cid = mjv_camera.fixedcamid;
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if (cid < 0 || cid >= model->ncam) {
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mju_error("fixed camera id is outside valid range");
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}
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orthographic = model->cam_projection[cid] == mjPROJ_ORTHOGRAPHIC;
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}
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const float3 cam_pos{headpos[0], headpos[1], headpos[2]};
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const float3 cam_fwd{forward[0], forward[1], forward[2]};
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const float3 cam_up{up[0], up[1], up[2]};
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const float3 cam_at = cam_pos + cam_fwd;
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const float aspect_ratio = (float)viewport.width / (float)viewport.height;
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const float halfwidth =
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frustum_width ? frustum_width
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: 0.5f * aspect_ratio * (frustum_top - frustum_bottom);
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const float left = frustum_center - halfwidth;
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const float right = frustum_center + halfwidth;
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mat4 projection;
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if (orthographic) {
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projection = mat4::ortho(left, right, frustum_bottom, frustum_top,
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frustum_near, frustum_far);
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} else {
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projection = mat4::frustum(left, right, frustum_bottom, frustum_top,
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frustum_near, frustum_far);
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projection[2][2] = -1.0f;
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projection[3][2] = -2.0f * frustum_near;
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}
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const mat4 look_at = mat4::lookAt(cam_pos, cam_at, cam_up);
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return projection * inverse(look_at);
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}
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void SceneDecorator::Update(mjData* data, const mjvOption* vis_option,
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const mjvPerturb* perturb, mjvCamera* camera,
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const mjrRect& viewport,
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DrawTextAtFn draw_text_at_fn,
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std::span<const mjvGeom> extra_geoms) {
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mjrfContext* ctx = model_objects_->GetContext();
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const mjModel* model = model_objects_->GetModel();
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const int nstack = model->vis.quality.numstacks;
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const int nslice = model->vis.quality.numslices;
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const int nquad = model->vis.quality.numquads;
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// For decor rendering, we go through the mjvScene. Ideally, we would only
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// update the mjvGeoms in the scene, but the API is not capable of that.
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mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL,
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&mjv_scene_);
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const int num_extra_geoms =
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std::min<int>(extra_geoms.size(), mjv_scene_.maxgeom - mjv_scene_.ngeom);
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for (int i = 0; i < num_extra_geoms; ++i) {
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mjv_scene_.geoms[mjv_scene_.ngeom] = extra_geoms[i];
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mjv_scene_.geoms[mjv_scene_.ngeom].category = mjCAT_DECOR;
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++mjv_scene_.ngeom;
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}
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// Remove all decorative elements from previous render and prepare new ones.
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for (auto& iter : decorations_) {
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mjrf_removeRenderableFromScene(scene_, iter.get());
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}
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decorations_.clear();
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const mat4 clip_from_world =
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CalcClipFromWorld(model, data, *camera, viewport);
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for (int i = 0; i < mjv_scene_.ngeom; ++i) {
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const mjvGeom& geom = mjv_scene_.geoms[i];
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if (draw_text_at_fn && geom.label[0] != 0) {
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const float4 clip_pos =
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clip_from_world *
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float4(geom.pos[0], geom.pos[1], geom.pos[2], 1.0f);
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if (clip_pos.w != 0.0f) {
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const float3 pos = clip_pos.xyz / clip_pos.w;
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draw_text_at_fn(geom.label, pos.x, pos.y, pos.z);
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}
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}
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if (geom.category != mjCAT_DECOR) {
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continue;
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}
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const mjtGeom geom_type = (mjtGeom)geom.type;
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if (geom_type == mjGEOM_NONE || geom_type == mjGEOM_LABEL) {
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continue;
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}
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mjrfRenderableParams params;
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mjrf_defaultRenderableParams(¶ms);
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auto renderable = CreateRenderable(ctx, params);
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mjrf_setRenderableGeomMesh(renderable.get(), geom_type, nstack, nslice, nquad);
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mjrf_setRenderableTransform(renderable.get(), geom.pos, geom.mat);
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if (geom_type == mjGEOM_PLANE) {
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// Planes only define an xy size, so set the z-dimension to 1.0f.
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const float size[3] = {geom.size[0], geom.size[1], 1.0f};
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mjrf_setRenderableSize(renderable.get(), size);
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} else {
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mjrf_setRenderableSize(renderable.get(), geom.size);
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}
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mjrfMaterial material;
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mjrf_defaultMaterial(&material);
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material.decor_ux = true;
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material.color[0] = geom.rgba[0];
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material.color[1] = geom.rgba[1];
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material.color[2] = geom.rgba[2];
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material.color[3] = geom.rgba[3];
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mjrf_setRenderableMaterial(renderable.get(), &material);
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mjrf_addRenderableToScene(scene_, renderable.get());
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decorations_.push_back(std::move(renderable));
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}
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}
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} // namespace mujoco
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@@ -0,0 +1,62 @@
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_DECORATOR_H_
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#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_DECORATOR_H_
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#include <functional>
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#include <span>
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#include <vector>
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#include <mujoco/mjrfilament.h>
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#include <mujoco/mjvisualize.h>
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#include <mujoco/mujoco.h>
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#include "render/filament/mjrfilament_cpp.h"
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#include "render/filament/support/model_objects.h"
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namespace mujoco {
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// Adds decorative renderables to a scene.
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//
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// Internally uses mjvScene to generate decorative mjvGeoms from which the
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// renderables are then created.
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class SceneDecorator {
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public:
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SceneDecorator(mjrfScene* scene, ModelObjects* model_objects,
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int num_geoms = 2000);
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~SceneDecorator();
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// Function for drawing text at a given position in clip space.
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using DrawTextAtFn = std::function<void(const char*, float, float, float)>;
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// Creates and adds decorative renderables to the scene.
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void Update(mjData* data, const mjvOption* vis_option,
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const mjvPerturb* perturb, mjvCamera* camera,
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const mjrRect& viewport, DrawTextAtFn draw_text_at_fn = nullptr,
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std::span<const mjvGeom> extra_geoms = {});
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SceneDecorator(const SceneDecorator&) = delete;
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SceneDecorator& operator=(const SceneDecorator&) = delete;
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private:
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mjrfContext* ctx_;
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mjrfScene* scene_;
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ModelObjects* model_objects_;
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mjvScene mjv_scene_;
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std::vector<UniquePtr<mjrfRenderable>> decorations_;
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};
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_DECORATOR_H_
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