Expose several functions in the public C API.
PiperOrigin-RevId: 910629209 Change-Id: I8623309e348c72350703f6874a887592f0607bba
This commit is contained in:
Haroon Qureshi
committed by
Copybara-Service
Copybara-Service
parent
4ed69b5ce7
commit
d168eb2d7d
@@ -18,6 +18,8 @@
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#include <cstdint>
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#include <cstring>
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#include <math/mat3.h>
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#include <math/vec3.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrender.h>
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#include <mujoco/mjvisualize.h>
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@@ -193,6 +195,139 @@ void mjrf_destroyRenderTarget(mjrRenderTarget* render_target) {
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delete mujoco::RenderTarget::downcast(render_target);
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}
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void mjrf_setTextureData(mjrTexture* texture, const mjrTextureData* data) {
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mujoco::Texture::downcast(texture)->Upload(*data);
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}
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int mjrf_getTextureWidth(const mjrTexture* texture) {
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return mujoco::Texture::downcast(texture)->GetWidth();
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}
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int mjrf_getTextureHeight(const mjrTexture* texture) {
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return mujoco::Texture::downcast(texture)->GetHeight();
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}
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mjrTextureTarget mjrf_getTextureTarget(const mjrTexture* texture) {
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return mujoco::Texture::downcast(texture)->GetTarget();
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}
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void mjrf_setLightEnabled(mjrLight* light, bool enabled) {
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if (enabled) {
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mujoco::Light::downcast(light)->Enable();
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} else {
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mujoco::Light::downcast(light)->Disable();
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}
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}
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void mjrf_setLightIntensity(mjrLight* light, float intensity) {
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mujoco::Light::downcast(light)->SetIntensity(intensity);
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}
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void mjrf_setLightColor(mjrLight* light, const float color[3]) {
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mujoco::Light::downcast(light)->SetColor({color[0], color[1], color[2]});
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}
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void mjrf_setLightTransform(mjrLight* light, const float position[3],
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const float direction[3]) {
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mujoco::Light::downcast(light)->SetTransform(
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{position[0], position[1], position[2]},
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{direction[0], direction[1], direction[2]});
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}
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mjrLightType mjrf_getLightType(const mjrLight* light) {
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return mujoco::Light::downcast(light)->GetType();
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}
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void mjrf_setRenderableMesh(mjrRenderable* renderable, const mjrMesh* mesh,
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int elem_offset, int elem_count) {
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mujoco::Renderable::downcast(renderable)
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->SetMesh(mujoco::Mesh::downcast(mesh), elem_offset, elem_count);
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}
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void mjrf_setRenderableMaterial(mjrRenderable* renderable,
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const mjrMaterialParams* params,
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const mjrMaterialTextures* textures) {
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mujoco::Renderable::downcast(renderable)->UpdateMaterial(*params, *textures);
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}
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void mjrf_setRenderableTransform(mjrRenderable* renderable,
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const float position[3],
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const float rotation[9], const float size[3]) {
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const filament::math::float3 fposition{position[0], position[1], position[2]};
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const filament::math::float3 fsize{size[0], size[1], size[2]};
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const filament::math::mat3f frotation{rotation[0], rotation[1], rotation[2],
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rotation[3], rotation[4], rotation[5],
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rotation[6], rotation[7], rotation[8]};
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mujoco::Renderable::downcast(renderable)
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->SetTransform({fposition, frotation, fsize});
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}
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void mjrf_setRenderableLayerMask(mjrRenderable* renderable,
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uint8_t layer_mask) {
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mujoco::Renderable::downcast(renderable)->SetLayerMask(layer_mask);
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}
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void mjrf_setRenderableWireframe(mjrRenderable* renderable, bool wireframe) {
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mujoco::Renderable::downcast(renderable)->SetWireframe(wireframe);
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}
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void mjrf_setRenderableCastShadows(mjrRenderable* renderable,
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bool cast_shadows) {
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mujoco::Renderable::downcast(renderable)->SetCastShadows(cast_shadows);
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}
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void mjrf_setRenderableReceiveShadows(mjrRenderable* renderable,
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bool receive_shadows) {
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mujoco::Renderable::downcast(renderable)->SetReceiveShadows(receive_shadows);
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}
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void mjrf_addLightToScene(mjrScene* scene, mjrLight* light) {
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mujoco::SceneView::downcast(scene)->AddToScene(
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mujoco::Light::downcast(light));
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}
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void mjrf_removeLightFromScene(mjrScene* scene, mjrLight* light) {
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mujoco::SceneView::downcast(scene)->RemoveFromScene(
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mujoco::Light::downcast(light));
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}
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void mjrf_addRenderableToScene(mjrScene* scene, mjrRenderable* renderable) {
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mujoco::SceneView::downcast(scene)->AddToScene(
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mujoco::Renderable::downcast(renderable));
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}
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void mjrf_removeRenderableFromScene(mjrScene* scene,
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mjrRenderable* renderable) {
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mujoco::SceneView::downcast(scene)->RemoveFromScene(
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mujoco::Renderable::downcast(renderable));
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}
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void mjrf_setSceneSkybox(mjrScene* scene, const mjrTexture* texture) {
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mujoco::SceneView::downcast(scene)->SetSkybox(
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mujoco::Texture::downcast(texture));
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}
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void mjrf_setSceneShadowsEnabled(mjrScene* scene, bool enabled) {
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if (enabled) {
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mujoco::SceneView::downcast(scene)->EnableShadows();
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} else {
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mujoco::SceneView::downcast(scene)->DisableShadows();
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}
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}
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void mjrf_setSceneReflectionsEnabled(mjrScene* scene, bool enabled) {
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if (enabled) {
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mujoco::SceneView::downcast(scene)->EnableReflections();
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} else {
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mujoco::SceneView::downcast(scene)->DisableReflections();
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}
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}
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void mjrf_configureSceneFromModel(mjrScene* scene, const mjModel* model) {
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mujoco::SceneView::downcast(scene)->Configure(model);
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}
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void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
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const mjrFilamentConfig* config) {
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// TODO: Support multiple contexts and multiple threads. For now, we'll just
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@@ -458,6 +458,86 @@ mjrRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx,
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// Destroys the render target.
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void mjrf_destroyRenderTarget(mjrRenderTarget* render_target);
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// Uploads the given texture data to the texture.
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void mjrf_setTextureData(mjrTexture* texture, const mjrTextureData* data);
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// Returns the width of the texture.
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int mjrf_getTextureWidth(const mjrTexture* texture);
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// Returns the height of the texture.
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int mjrf_getTextureHeight(const mjrTexture* texture);
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// Returns the target type of the texture.
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mjrTextureTarget mjrf_getTextureTarget(const mjrTexture* texture);
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// Enables or disables the light.
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void mjrf_setLightEnabled(mjrLight* light, bool enabled);
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// Sets the intensity of the light, in candela.
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void mjrf_setLightIntensity(mjrLight* light, float intensity);
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// Sets the RGB color of the light.
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void mjrf_setLightColor(mjrLight* light, const float color[3]);
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// Sets the position and direction of the light.
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void mjrf_setLightTransform(mjrLight* light, const float position[3],
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const float direction[3]);
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// Returns the type of the light.
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mjrLightType mjrf_getLightType(const mjrLight* light);
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// Sets the mesh of the renderable.
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void mjrf_setRenderableMesh(mjrRenderable* renderable, const mjrMesh* mesh,
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int elem_offset, int elem_count);
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// Sets the material properties and textures of the renderable.
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void mjrf_setRenderableMaterial(mjrRenderable* renderable,
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const mjrMaterialParams* params,
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const mjrMaterialTextures* textures);
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// Sets the transform (position, rotation, and size) of the renderable.
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void mjrf_setRenderableTransform(mjrRenderable* renderable,
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const float position[3],
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const float rotation[9], const float size[3]);
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// Sets whether the renderable casts shadows or not.
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void mjrf_setRenderableCastShadows(mjrRenderable* renderable,
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bool cast_shadows);
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// Sets whether the renderable receives shadows or not.
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void mjrf_setRenderableReceiveShadows(mjrRenderable* renderable,
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bool receive_shadows);
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// Forces the renderable to be rendered using lines.
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void mjrf_setRenderableWireframe(mjrRenderable* renderable, bool wireframe);
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// Sets the layer mask of the renderable. See mjrRenderableParams for details.
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void mjrf_setRenderableLayerMask(mjrRenderable* renderable, uint8_t layer_mask);
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// Adds the light to the scene.
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void mjrf_addLightToScene(mjrScene* scene, mjrLight* light);
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// Removes the light from the scene.
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void mjrf_removeLightFromScene(mjrScene* scene, mjrLight* light);
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// Adds the renderable to the scene.
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void mjrf_addRenderableToScene(mjrScene* scene, mjrRenderable* renderable);
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// Removes the renderable from the scene.
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void mjrf_removeRenderableFromScene(mjrScene* scene, mjrRenderable* renderable);
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// Sets the skybox texture of the scene.
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void mjrf_setSceneSkybox(mjrScene* scene, const mjrTexture* texture);
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// Enables (or disables) shadows in the scene..
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void mjrf_setSceneShadowsEnabled(mjrScene* scene, bool enabled);
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// Enables (or disables) reflections in the scene.
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void mjrf_setSceneReflectionsEnabled(mjrScene* scene, bool enabled);
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// Configures the scene based on the parameters in the model.
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void mjrf_configureSceneFromModel(mjrScene* scene, const mjModel* model);
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// Legacy API, to be deprecated.
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void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
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