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Correctly compute bounding boxes for meshes.

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Enable culling when bounding box is available.

PiperOrigin-RevId: 892289875
Change-Id: I124426b6e7e72f4d9a1486320d72d6eb032e0828
This commit is contained in:
Haroon Qureshi
2026-03-31 05:57:39 -07:00
committed by Copybara-Service
parent 06d6bda5bb
commit d4103939e4
7 changed files with 128 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/filament/filament/buffer_util.h
+2 -1
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@@ -18,6 +18,7 @@
#include <cstddef>
#include <cstdint>
#include <functional>
#include <optional>
#include <type_traits>
#include <backend/BufferDescriptor.h>
#include <filament/Box.h>
@@ -33,7 +34,7 @@ namespace mujoco {
struct FilamentBuffers {
filament::IndexBuffer* index_buffer = nullptr;
filament::VertexBuffer* vertex_buffer = nullptr;
filament::Box bounds = {{-1, -1, -1}, {1, 1, 1}};
std::optional<filament::Box> bounds = std::nullopt;
filament::RenderableManager::PrimitiveType type =
filament::RenderableManager::PrimitiveType::TRIANGLES;
};
src/experimental/filament/filament/builtins.cc
+28 -10
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@@ -87,7 +87,7 @@ class LineBuilder {
}
filament::Box GetBounds() const {
return {{-0.001, -0.001, 0}, {0.001, 0.001, 1}};
return filament::Box().set({-0.001, -0.001, 0}, {0.001, 0.001, 1});
}
};
@@ -137,7 +137,9 @@ class PlaneBuilder {
}
}
filament::Box GetBounds() const { return {{-1, -1, -0.001}, {1, 1, 0.001}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, -0.001}, {1, 1, 0.001});
}
private:
int num_quads_per_axis_;
@@ -174,7 +176,9 @@ class TriangleBuilder {
ptr[2] = 2;
}
filament::Box GetBounds() const { return {{-1, -1, -0.001}, {1, 1, 0.001}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, -0.001}, {1, 1, 0.001});
}
private:
float4 orientation_;
@@ -239,7 +243,9 @@ class LineBoxBuilder {
ptr[23] = 5;
}
filament::Box GetBounds() const { return {{-1, -1, -1}, {1, 1, 1}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, -1}, {1, 1, 1});
}
};
class BoxBuilder {
@@ -305,7 +311,9 @@ class BoxBuilder {
}
}
filament::Box GetBounds() const { return {{-1, -1, -1}, {1, 1, 1}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, -1}, {1, 1, 1});
}
private:
template <typename F>
@@ -378,7 +386,9 @@ class TubeBuilder {
}
}
filament::Box GetBounds() const { return {{-1, -1, -1}, {1, 1, 1}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, -1}, {1, 1, 1});
}
private:
int num_stacks_;
@@ -461,7 +471,9 @@ class ConeBuilder {
}
}
filament::Box GetBounds() const { return {{-1, -1, 0}, {1, 1, 1}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, 0}, {1, 1, 1});
}
private:
static VertexType MakeVert(float theta, float radius) {
@@ -520,7 +532,9 @@ class DiskBuilder {
}
}
filament::Box GetBounds() const { return {{-1, -1, -0.001}, {1, 1, 0.001}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, -0.001}, {1, 1, 0.001});
}
private:
int num_slices_;
@@ -625,7 +639,9 @@ class SphereBuilder {
}
}
filament::Box GetBounds() const { return {{-1, -1, -1}, {1, 1, 1}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, -1}, {1, 1, 1});
}
private:
static VertexType MakeVert(float x, float y, float z) {
@@ -726,7 +742,9 @@ class DomeBuilder {
}
}
filament::Box GetBounds() const { return {{-1, -1, 0}, {1, 1, 1}}; }
filament::Box GetBounds() const {
return filament::Box().set({-1, -1, 0}, {1, 1, 1});
}
private:
static VertexType MakeVert(float x, float y, float z) {
src/experimental/filament/filament/geom_util.cc
+22 -5
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@@ -14,12 +14,16 @@
#include "experimental/filament/filament/geom_util.h"
#include <cfloat>
#include <cstddef>
#include <cstdint>
#include <cstring>
#include <span>
#include <filament/Engine.h>
#include <filament/IndexBuffer.h>
#include <filament/VertexBuffer.h>
#include <math/vec3.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/buffer_util.h"
#include "experimental/filament/filament/math_util.h"
@@ -27,6 +31,8 @@
namespace mujoco {
using filament::math::float3;
static std::span<const float> GetPositions(const mjModel* model,
const mjvScene* scene,
const mjvGeom& geom) {
@@ -102,11 +108,15 @@ template <typename T>
static void FillVertices(std::byte* buffer, std::size_t len,
std::span<const float> positions,
std::span<const float> normals,
std::span<const float> uvs) {
std::span<const float> uvs,
float3* vmin,
float3* vmax) {
const int num_vertices = len / sizeof(T);
T* ptr = reinterpret_cast<T*>(buffer);
for (int i = 0; i < num_vertices; ++i) {
ptr->position = ReadFloat3(positions.data(), i);
*vmin = min(*vmin, ptr->position);
*vmax = max(*vmax, ptr->position);
ptr->orientation = CalculateOrientation(ReadFloat3(normals.data(), i));
if constexpr (T::kHasUv) {
ptr->uv.x = uvs[i * 2];
@@ -118,18 +128,21 @@ static void FillVertices(std::byte* buffer, std::size_t len,
static filament::VertexBuffer* BuildVertexBuffer(
filament::Engine* engine, std::span<const float> positions,
std::span<const float> normals, std::span<const float> uvs) {
std::span<const float> normals, std::span<const float> uvs, float3* vmin,
float3* vmax) {
const int num_vertices = positions.size() / 3;
if (uvs.data() != nullptr) {
using VertexType = VertexWithUv;
auto fill = [&](std::byte* buffer, std::size_t len) {
FillVertices<VertexType>(buffer, len, positions, normals, uvs);
FillVertices<VertexType>(buffer, len, positions, normals, uvs, vmin,
vmax);
};
return CreateVertexBuffer<VertexType>(engine, num_vertices, fill);
} else {
using VertexType = VertexNoUv;
auto fill = [&](std::byte* buffer, std::size_t len) {
FillVertices<VertexType>(buffer, len, positions, normals, uvs);
FillVertices<VertexType>(buffer, len, positions, normals, uvs, vmin,
vmax);
};
return CreateVertexBuffer<VertexType>(engine, num_vertices, fill);
}
@@ -163,8 +176,12 @@ FilamentBuffers CreateGeomBuffers(filament::Engine* engine,
}
FilamentBuffers buffers;
buffers.vertex_buffer = BuildVertexBuffer(engine, positions, normals, uvs);
float3 vmin = {FLT_MAX, FLT_MAX, FLT_MAX};
float3 vmax = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
buffers.vertex_buffer =
BuildVertexBuffer(engine, positions, normals, uvs, &vmin, &vmax);
buffers.index_buffer = BuildIndexBuffer(engine, indices, num_indices);
buffers.bounds.emplace().set(vmin, vmax);
return buffers;
}
src/experimental/filament/filament/model_objects.cc
+6 -5
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@@ -103,15 +103,16 @@ void ModelObjects::UploadMesh(const mjModel* model, int id) {
}
FilamentBuffers& buffers = meshes_[id];
buffers.vertex_buffer =
CreateVertexBuffer(engine_, model, id, MeshType::kNormal);
buffers.vertex_buffer = CreateVertexBuffer(
engine_, model, id, MeshType::kNormal, &buffers.bounds.emplace());
buffers.index_buffer =
CreateIndexBuffer(engine_, model, id, MeshType::kNormal);
if (model->mesh_graphadr[id] >= 0) {
FilamentBuffers& hull_buffers = convex_hulls_[id];
hull_buffers.vertex_buffer =
CreateVertexBuffer(engine_, model, id, MeshType::kConvexHull);
CreateVertexBuffer(engine_, model, id, MeshType::kConvexHull,
&hull_buffers.bounds.emplace());
hull_buffers.index_buffer =
CreateIndexBuffer(engine_, model, id, MeshType::kConvexHull);
}
@@ -160,8 +161,8 @@ void ModelObjects::UploadHeightField(const mjModel* model, int id) {
}
FilamentBuffers& buffers = height_fields_[id];
buffers.vertex_buffer =
CreateVertexBuffer(engine_, model, id, MeshType::kHeightField);
buffers.vertex_buffer = CreateVertexBuffer(
engine_, model, id, MeshType::kHeightField, &buffers.bounds.emplace());
buffers.index_buffer =
CreateIndexBuffer(engine_, model, id, MeshType::kHeightField);
}
src/experimental/filament/filament/model_util.cc
+57 -24
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@@ -15,10 +15,12 @@
#include "experimental/filament/filament/model_util.h"
#include <algorithm>
#include <cfloat>
#include <cstddef>
#include <cstdint>
#include <limits>
#include <filament/Box.h>
#include <filament/Engine.h>
#include <filament/IndexBuffer.h>
#include <filament/Texture.h>
@@ -48,11 +50,20 @@ static bool UseFaceNormal(const float3& face_normal,
// clang-format on
}
static void UpdateBounds(const float3& v, float3* vmin, float3* vmax) {
vmin->x = std::min(vmin->x, v.x);
vmin->y = std::min(vmin->y, v.y);
vmin->z = std::min(vmin->z, v.z);
vmax->x = std::max(vmax->x, v.x);
vmax->y = std::max(vmax->y, v.y);
vmax->z = std::max(vmax->z, v.z);
}
template <typename T>
static void FillConvexHullBuffer(T* ptr, std::size_t num, const mjModel* model,
int meshid) {
int meshid, float3* vmin, float3* vmax) {
const int numvert = model->mesh_graph[model->mesh_graphadr[meshid]];
const int numface = model->mesh_graph[model->mesh_graphadr[meshid]+1];
const int numface = model->mesh_graph[model->mesh_graphadr[meshid] + 1];
const int vertadr = model->mesh_vertadr[meshid];
const float* vertices = model->mesh_vert + (3 * vertadr);
@@ -65,13 +76,18 @@ static void FillConvexHullBuffer(T* ptr, std::size_t num, const mjModel* model,
}
for (int face = 0; face < numface; ++face) {
int j = model->mesh_graphadr[meshid] + 2 + 3*numvert + 3*numface + 3*face;
int j =
model->mesh_graphadr[meshid] + 2 + 3 * numvert + 3 * numface + 3 * face;
const float3 p1 = ReadFloat3(vertices, model->mesh_graph[j + 0]);
const float3 p2 = ReadFloat3(vertices, model->mesh_graph[j + 1]);
const float3 p3 = ReadFloat3(vertices, model->mesh_graph[j + 2]);
const float4 orientation = CalculateOrientation(p1, p2, p3);
UpdateBounds(p1, vmin, vmax);
UpdateBounds(p2, vmin, vmax);
UpdateBounds(p3, vmin, vmax);
ptr->position = p1;
ptr->orientation = orientation;
if constexpr (T::kHasUv) {
@@ -97,7 +113,7 @@ static void FillConvexHullBuffer(T* ptr, std::size_t num, const mjModel* model,
template <typename T>
static void FillMeshBuffer(T* ptr, std::size_t num, const mjModel* model,
int meshid) {
int meshid, float3* vmin, float3* vmax) {
const int faceadr = model->mesh_faceadr[meshid];
const int facenum = model->mesh_facenum[meshid];
if (num != facenum * 3) {
@@ -118,8 +134,12 @@ static void FillMeshBuffer(T* ptr, std::size_t num, const mjModel* model,
const float3 p1 = ReadFloat3(vertices, model->mesh_face[face + 0]);
const float3 p2 = ReadFloat3(vertices, model->mesh_face[face + 1]);
const float3 p3 = ReadFloat3(vertices, model->mesh_face[face + 2]);
const float3 face_normal = CalculateNormal(p1, p2, p3);
UpdateBounds(p1, vmin, vmax);
UpdateBounds(p2, vmin, vmax);
UpdateBounds(p3, vmin, vmax);
const float3 face_normal = CalculateNormal(p1, p2, p3);
const float3 n1 = ReadFloat3(normals, model->mesh_facenormal[face + 0]);
const float3 n2 = ReadFloat3(normals, model->mesh_facenormal[face + 1]);
const float3 n3 = ReadFloat3(normals, model->mesh_facenormal[face + 2]);
@@ -160,7 +180,8 @@ static void FillMeshBuffer(T* ptr, std::size_t num, const mjModel* model,
}
static void FillHeightFieldBuffer(VertexNoUv* ptr, std::size_t num,
const mjModel* model, int hfieldid) {
const mjModel* model, int hfieldid,
float3* vmin, float3* vmax) {
int count = 0;
auto append_tri = [&](float3 a, float3 b, float3 c) {
float4 orientation = CalculateOrientation(a, b, c);
@@ -173,6 +194,10 @@ static void FillHeightFieldBuffer(VertexNoUv* ptr, std::size_t num,
ptr[count].position = c;
ptr[count].orientation = orientation;
++count;
UpdateBounds(a, vmin, vmax);
UpdateBounds(b, vmin, vmax);
UpdateBounds(c, vmin, vmax);
};
auto append_quad = [&](float3 a, float3 b, float3 c, float3 d) {
append_tri(a, b, d);
@@ -186,7 +211,7 @@ static void FillHeightFieldBuffer(VertexNoUv* ptr, std::size_t num,
const float width = 0.5f * (ncol - 1);
float sz[4];
for (int i = 0; i < 4; ++i) {
sz[i] = static_cast<float>(model->hfield_size[4 * hfieldid + i]);
sz[i] = static_cast<float>(model->hfield_size[4 * hfieldid + i]);
}
auto get_pos = [=](int r, int c) {
@@ -254,8 +279,8 @@ static void FillHeightFieldBuffer(VertexNoUv* ptr, std::size_t num,
}
// Build the right edge.
for (int row = 0; row < nrow - 1; ++row) {
const float3 a = get_pos(row + 1, ncol-1);
const float3 b = get_pos(row, ncol-1);
const float3 a = get_pos(row + 1, ncol - 1);
const float3 b = get_pos(row, ncol - 1);
const float3 c = {b.x, b.y, -sz[3]};
const float3 d = {a.x, a.y, -sz[3]};
append_quad(a, b, c, d);
@@ -270,8 +295,8 @@ static void FillHeightFieldBuffer(VertexNoUv* ptr, std::size_t num,
}
// Build the back edge.
for (int col = 0; col < ncol - 1; ++col) {
const float3 a = get_pos(nrow-1, col + 1);
const float3 b = get_pos(nrow-1, col);
const float3 a = get_pos(nrow - 1, col + 1);
const float3 b = get_pos(nrow - 1, col);
const float3 c = {b.x, b.y, -sz[3]};
const float3 d = {a.x, a.y, -sz[3]};
append_quad(a, b, c, d);
@@ -286,9 +311,7 @@ static void FillHeightFieldBuffer(VertexNoUv* ptr, std::size_t num,
const float x1 = sz[0] * ((col + 1) / base_width - 1.0f);
const float y0 = sz[1] * ((row + 0) / base_height - 1.0f);
const float y1 = sz[1] * ((row + 1) / base_height - 1.0f);
append_quad({x0, y0, -sz[3]},
{x0, y1, -sz[3]},
{x1, y1, -sz[3]},
append_quad({x0, y0, -sz[3]}, {x0, y1, -sz[3]}, {x1, y1, -sz[3]},
{x1, y0, -sz[3]});
}
}
@@ -305,7 +328,7 @@ static int CalculateHeightFieldVertexCount(const mjModel* model, int hfieldid) {
// we need. But, in general...
// We use 4 triangles (i.e. 12 vertices) per quad.
const int surface_count = 12 * (nrow-1) * (ncol-1);
const int surface_count = 12 * (nrow - 1) * (ncol - 1);
// We use 1 quad (i.e. 6 vertices) per edge element. We double this because
// we have two edges per dimension (e.g. left/right and front/back).
const int edge_count = (12 * (nrow - 1)) + (12 * (ncol - 1));
@@ -322,17 +345,23 @@ template <typename T, typename FillFn>
static filament::VertexBuffer* CreateVertexBuffer(filament::Engine* engine,
const mjModel* model, int id,
int vertex_count,
FillFn fill_fn) {
return CreateVertexBuffer<T>(
FillFn fill_fn,
filament::Box* bounds) {
float3 vmin = {FLT_MAX, FLT_MAX, FLT_MAX};
float3 vmax = {-FLT_MAX, -FLT_MAX, -FLT_MAX};
filament::VertexBuffer* buffer = CreateVertexBuffer<T>(
engine, vertex_count, [&](std::byte* buffer, std::size_t num_bytes) {
auto* ptr = reinterpret_cast<T*>(buffer);
fill_fn(ptr, num_bytes / sizeof(T), model, id);
fill_fn(ptr, num_bytes / sizeof(T), model, id, &vmin, &vmax);
});
bounds->set(vmin, vmax);
return buffer;
}
filament::VertexBuffer* CreateVertexBuffer(filament::Engine* engine,
const mjModel* model, int id,
MeshType mesh_type) {
MeshType mesh_type,
filament::Box* bounds) {
if (id < 0) {
mju_error("Invalid mesh index %d", id);
return nullptr;
@@ -376,11 +405,13 @@ filament::VertexBuffer* CreateVertexBuffer(filament::Engine* engine,
switch (mesh_type) {
case MeshType::kNormal:
return CreateVertexBuffer<VertexType>(engine, model, id, vertex_count,
FillMeshBuffer<VertexType>);
FillMeshBuffer<VertexType>,
bounds);
break;
case MeshType::kConvexHull:
return CreateVertexBuffer<VertexType>(engine, model, id, vertex_count,
FillConvexHullBuffer<VertexType>);
FillConvexHullBuffer<VertexType>,
bounds);
break;
case MeshType::kHeightField:
mju_error("Height fields do not support UV coordinates.");
@@ -391,15 +422,17 @@ filament::VertexBuffer* CreateVertexBuffer(filament::Engine* engine,
switch (mesh_type) {
case MeshType::kNormal:
return CreateVertexBuffer<VertexType>(engine, model, id, vertex_count,
FillMeshBuffer<VertexType>);
FillMeshBuffer<VertexType>,
bounds);
break;
case MeshType::kConvexHull:
return CreateVertexBuffer<VertexType>(engine, model, id, vertex_count,
FillConvexHullBuffer<VertexType>);
FillConvexHullBuffer<VertexType>,
bounds);
break;
case MeshType::kHeightField:
return CreateVertexBuffer<VertexType>(engine, model, id, vertex_count,
FillHeightFieldBuffer);
FillHeightFieldBuffer, bounds);
break;
}
}
src/experimental/filament/filament/model_util.h
+3 -1
View File
@@ -17,6 +17,7 @@
#include <string_view>
#include <filament/Box.h>
#include <filament/Engine.h>
#include <filament/IndexBuffer.h>
#include <filament/Texture.h>
@@ -45,7 +46,8 @@ enum class TextureType {
// Generates a filament VertexBuffer for a given mesh in the mjModel.
filament::VertexBuffer* CreateVertexBuffer(filament::Engine* engine,
const mjModel* model, int id,
MeshType mesh_type);
MeshType mesh_type,
filament::Box* bounds);
// Generates a filament IndexBuffer for a given mesh in the mjModel.
filament::IndexBuffer* CreateIndexBuffer(filament::Engine* engine,
src/experimental/filament/filament/renderables.cc
+10 -7
View File
@@ -105,13 +105,16 @@ utils::Entity Renderables::CreateEntity(const FilamentBuffers& buffers) {
if (material_instance_) {
builder.material(0, material_instance_);
}
builder.boundingBox(buffers.bounds)
.culling(false)
.castShadows(cast_shadows_)
.receiveShadows(receive_shadows_)
.layerMask(0xff, layer_mask_)
.priority(priority_)
.screenSpaceContactShadows(true);
if (buffers.bounds.has_value()) {
builder.boundingBox(buffers.bounds.value());
} else {
builder.culling(false);
}
builder.castShadows(cast_shadows_);
builder.receiveShadows(receive_shadows_);
builder.layerMask(0xff, layer_mask_);
builder.priority(priority_);
builder.screenSpaceContactShadows(true);;
builder.build(*engine_, entity);
if (assigned_scene_) {