Split out the compatibility classes from the filament renderer.

The filament library provides APIs for creating the low-level
objects such as meshes and textures. The compat library provides
the high-level compatibility layer between mjvScene and the core
library.

PiperOrigin-RevId: 904504900
Change-Id: Ida1aecab4b9a8aefbbf6b0a0c4ba7ff164864b8e

src/experimental/filament/CMakeLists.txt

@@ -32,10 +32,6 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         filament/filament_context.h
         filament/filament_platform_factory.cc
         filament/filament_platform_factory.h
-        filament/imgui_bridge.cc
-        filament/imgui_bridge.h
-        filament/imgui_editor.cc
-        filament/imgui_editor.h
         filament/light.cc
         filament/light.h
         filament/material.cc
@@ -44,10 +40,6 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         filament/math_util.h
         filament/mesh.cc
         filament/mesh.h
-        filament/mjr_filament_renderer.cc
-        filament/mjr_filament_renderer.h
-        filament/model_objects.cc
-        filament/model_objects.h
         filament/model_util.h
         filament/object_manager.cc
         filament/object_manager.h
@@ -55,14 +47,22 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         filament/render_target.h
         filament/renderable.cc
         filament/renderable.h
-        filament/scene_bridge.cc
-        filament/scene_bridge.h
-        filament/scene_geom_util.cc
-        filament/scene_geom_util.h
         filament/scene_view.cc
         filament/scene_view.h
         filament/texture.cc
         filament/texture.h
+        compat/imgui_bridge.cc
+        compat/imgui_bridge.h
+        compat/imgui_editor.cc
+        compat/imgui_editor.h
+        compat/mjr_filament_renderer.cc
+        compat/mjr_filament_renderer.h
+        compat/model_objects.cc
+        compat/model_objects.h
+        compat/scene_bridge.cc
+        compat/scene_bridge.h
+        compat/scene_geom_util.cc
+        compat/scene_geom_util.h
 )
 if(MUJOCO_USE_FILAMENT_MJR_COMPAT)
     target_sources(${MUJOCO_FILAMENT_TARGET_NAME}

src/experimental/filament/compat/imgui_bridge.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/imgui_bridge.h"
+#include "experimental/filament/compat/imgui_bridge.h"
 
 #include <cstddef>
 #include <cstdint>
@@ -23,7 +23,6 @@
 #include <imgui.h>
 #include <math/mat3.h>
 #include <math/vec3.h>
-#include <math/vec4.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/mesh.h"

src/experimental/filament/compat/imgui_bridge.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_IMGUI_BRIDGE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_IMGUI_BRIDGE_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_BRIDGE_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_BRIDGE_H_
 
 #include <cstdint>
 #include <memory>
@@ -72,4 +72,4 @@ void DrawTextAt(const char* text, float x, float y, float z);
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_IMGUI_BRIDGE_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_BRIDGE_H_

src/experimental/filament/compat/imgui_editor.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/imgui_editor.h"
+#include "experimental/filament/compat/imgui_editor.h"
 
 #include <algorithm>
 #include <any>
@@ -34,8 +34,8 @@
 #include <math/mathfwd.h>
 #include <math/scalar.h>
 #include <math/vec3.h>
+#include "experimental/filament/compat/scene_bridge.h"
 #include "experimental/filament/filament/color_grading_options.h"
-#include "experimental/filament/filament/scene_bridge.h"
 #include "experimental/filament/filament/scene_view.h"
 
 namespace mujoco {

src/experimental/filament/compat/imgui_editor.h

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_IMGUI_EDITOR_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_IMGUI_EDITOR_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_EDITOR_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_EDITOR_H_
 
-#include "experimental/filament/filament/scene_bridge.h"
+#include "experimental/filament/compat/scene_bridge.h"
 
 namespace mujoco {
 
@@ -24,4 +24,4 @@ void DrawGui(SceneBridge* scene_bridge);
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_IMGUI_EDITOR_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_IMGUI_EDITOR_H_

src/experimental/filament/compat/mjr_filament_renderer.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/mjr_filament_renderer.h"
+#include "experimental/filament/compat/mjr_filament_renderer.h"
 
 #include <cstddef>
 #include <cstdint>
@@ -22,13 +22,13 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/compat/imgui_bridge.h"
+#include "experimental/filament/compat/imgui_editor.h"
+#include "experimental/filament/compat/scene_bridge.h"
 #include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/filament_context.h"
-#include "experimental/filament/filament/imgui_bridge.h"
-#include "experimental/filament/filament/imgui_editor.h"
 #include "experimental/filament/filament/model_util.h"
 #include "experimental/filament/filament/render_target.h"
-#include "experimental/filament/filament/scene_bridge.h"
 #include "experimental/filament/filament/texture.h"
 #include "experimental/filament/render_context_filament.h"
 

src/experimental/filament/compat/mjr_filament_renderer.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MJR_FILAMENT_RENDERER_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MJR_FILAMENT_RENDERER_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MJR_FILAMENT_RENDERER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MJR_FILAMENT_RENDERER_H_
 
 #include <cstdint>
 #include <memory>
@@ -21,10 +21,9 @@
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjrender.h>
 #include <mujoco/mjvisualize.h>
-#include "experimental/filament/filament/draw_mode.h"
+#include "experimental/filament/compat/imgui_bridge.h"
+#include "experimental/filament/compat/scene_bridge.h"
 #include "experimental/filament/filament/filament_context.h"
-#include "experimental/filament/filament/imgui_bridge.h"
-#include "experimental/filament/filament/scene_bridge.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
@@ -84,4 +83,4 @@ class MjrFilamentRenderer : public FilamentContext {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MJR_FILAMENT_RENDERER_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MJR_FILAMENT_RENDERER_H_

src/experimental/filament/compat/model_objects.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/model_objects.h"
+#include "experimental/filament/compat/model_objects.h"
 
 #include <array>
 #include <algorithm>

src/experimental/filament/compat/model_objects.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MODEL_OBJECTS_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MODEL_OBJECTS_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MODEL_OBJECTS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MODEL_OBJECTS_H_
 
 #include <array>
 #include <memory>
@@ -100,4 +100,4 @@ class ModelObjects {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MODEL_OBJECTS_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MODEL_OBJECTS_H_

src/experimental/filament/compat/scene_bridge.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/scene_bridge.h"
+#include "experimental/filament/compat/scene_bridge.h"
 
 #include <memory>
 #include <optional>
@@ -36,16 +36,15 @@
 #include <math/vec4.h>
 #include <math/TVecHelpers.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/compat/imgui_bridge.h"
+#include "experimental/filament/compat/model_objects.h"
+#include "experimental/filament/compat/scene_geom_util.h"
 #include "experimental/filament/filament/color_grading_options.h"
-#include "experimental/filament/filament/imgui_bridge.h"
 #include "experimental/filament/filament/light.h"
-#include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
-#include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/model_util.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/renderable.h"
-#include "experimental/filament/filament/scene_geom_util.h"
 #include "experimental/filament/filament/scene_view.h"
 #include "experimental/filament/filament/texture.h"
 

src/experimental/filament/compat/scene_bridge.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_BRIDGE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_BRIDGE_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
 
 #include <memory>
 #include <optional>
@@ -24,8 +24,8 @@
 #include <math/vec3.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/compat/model_objects.h"
 #include "experimental/filament/filament/light.h"
-#include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/scene_view.h"
@@ -85,4 +85,4 @@ class SceneBridge {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_BRIDGE_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_

src/experimental/filament/compat/scene_geom_util.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/scene_geom_util.h"
+#include "experimental/filament/compat/scene_geom_util.h"
 
 #include <cmath>
 #include <cstdint>
@@ -22,20 +22,17 @@
 
 #include <filament/Material.h>
 #include <filament/RenderableManager.h>
-#include <filament/Scene.h>
 #include <filament/Texture.h>
-#include <filament/TransformManager.h>
 #include <math/mat4.h>
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
-#include <utils/Entity.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/compat/model_objects.h"
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/mesh.h"
-#include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/texture.h"

src/experimental/filament/compat/scene_geom_util.h

@@ -12,14 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_GEOM_UTIL_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_GEOM_UTIL_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_
 
 #include <memory>
 
 #include <mujoco/mjvisualize.h>
-#include "experimental/filament/filament/material.h"
-#include "experimental/filament/filament/model_objects.h"
+#include "experimental/filament/compat/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/renderable.h"
 
@@ -32,4 +31,4 @@ std::unique_ptr<Renderable> CreateGeomRenderable(
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_SCENE_GEOM_UTIL_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_

src/experimental/filament/render_context_filament.cc

@@ -21,7 +21,7 @@
 #include <mujoco/mjrender.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/mjr_filament_renderer.h"
+#include "experimental/filament/compat/mjr_filament_renderer.h"
 
 
 #if defined(TLS_FILAMENT_CONTEXT)