Move mjrfilament.h to mujoco/include.

PiperOrigin-RevId: 934931460 Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1
2026-06-19 08:00:10 -07:00
parent f663139256
commit d93c102190
45 changed files with 82 additions and 79 deletions
@@ -119,6 +119,7 @@ set(MUJOCO_HEADERS
    include/mujoco/mjmodel.h
    include/mujoco/mjplugin.h
    include/mujoco/mjrender.h
+    include/mujoco/mjrfilament.h
    include/mujoco/mjsan.h
    include/mujoco/mjspec.h
    include/mujoco/mjspecmacro.h
@@ -161,6 +161,8 @@ links below, to make this documentation self-contained.
   Defines the primitive types and structures needed by the abstract visualizer.
 `mjrender.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrender.h>`__
   Defines the primitive types and structures needed by the OpenGL renderer.
+`mjrfilament.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjrfilament.h>`__
+   Defines the primitive types and structures needed by the filament renderer.
 `mjui.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjui.h>`__
   Defines the primitive types and structures needed by the UI framework.
 `mjtype.h <https://github.com/google-deepmind/mujoco/blob/main/include/mujoco/mjtype.h>`__
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.

-#ifndef MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_H_
+#ifndef MUJOCO_MJRFILAMENT_H_
+#define MUJOCO_MJRFILAMENT_H_

 #include <stdint.h>

@@ -184,12 +184,12 @@ void mjrf_getFrameStats(mjrfContext* ctx, mjrfFrameHandle frame, mjrfFrameStats*
 // filament's `cmgen` tool to generate a KTX image from your source image. This tool will calculate
 // additional data (i.e. the spherical harmonics) and encode that information into the KTX file.

-struct mjrfTextureConfig_ {  // parameters for creating a texture (mjrfTexture)
-  int width;                 // texture width; or number of bytes for compressed data (e.g. KTX)
-  int height;                // texture height; or 0 for compressed data (e.g. KTX)
-  int format;                // mjrPixelFormat; (e.g. RGB8, RGBA8, KTX, etc.)
-  int color_space;           // mjrColorSpace; (e.g. LINEAR, sRGB, etc.)
-  int sampler_type;          // mjrSamplerType; texture sampler (e.g. 2D, cube, etc.)
+struct mjrfTextureConfig_ {     // parameters for creating a texture (mjrfTexture)
+  int width;                    // texture width; or number of bytes for compressed data (e.g. KTX)
+  int height;                   // texture height; or 0 for compressed data (e.g. KTX)
+  int format;                   // mjrPixelFormat; (e.g. RGB8, RGBA8, KTX, etc.)
+  int color_space;              // mjrColorSpace; (e.g. LINEAR, sRGB, etc.)
+  int sampler_type;             // mjrSamplerType; texture sampler (e.g. 2D, cube, etc.)
 };
 typedef struct mjrfTextureConfig_ mjrfTextureConfig;

@@ -252,20 +252,20 @@ int mjrf_getSamplerType(const mjrfTexture* texture);
 // Maximum number of vertex attributes in a mesh.
 enum { mjMAX_VERTEX_ATTRIBUTES = 16 };

-struct mjrfMeshData_ {     // binary data for a mesh (mjrfMesh)
-  mjtSize num_vertices;    // number of vertices; all vertex attributes share this size
-  int num_attributes;      // number of attributes defined
+struct mjrfMeshData_ {      // binary data for a mesh (mjrfMesh)
+  mjtSize num_vertices;     // number of vertices; all vertex attributes share this size
+  int num_attributes;       // number of attributes defined
  mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute information
-  mjtBool interleaved;     // true if vertex attributes are interleaved
-  mjtSize num_indices;     // number of indices
-  const void* indices;     // indices data array
-  int index_type;          // mjrIndexType; (e.g. UINT16 or UINT32)
-  int primitive_type;      // mjrMeshPrimitiveType; (e.g. TRIANGLES, etc.)
-  mjtBool compute_bounds;  // if true, compute bounds from vertex positions
-  float bounds_min[3];     // min/max bounds; assume unset if bounds_min == bounds_max
+  mjtBool interleaved;      // true if vertex attributes are interleaved
+  mjtSize num_indices;      // number of indices
+  const void* indices;      // indices data array
+  int index_type;           // mjrIndexType; (e.g. UINT16 or UINT32)
+  int primitive_type;       // mjrMeshPrimitiveType; (e.g. TRIANGLES, etc.)
+  mjtBool compute_bounds;   // if true, compute bounds from vertex positions
+  float bounds_min[3];      // min/max bounds; assume unset if bounds_min == bounds_max
  float bounds_max[3];
-  mjrfCallback release;    // callback when data has finished uploading
-  void* user_data;         // user data for release callback
+  mjrfCallback release;     // callback when data has finished uploading
+  void* user_data;          // user data for release callback
 };
 typedef struct mjrfMeshData_ mjrfMeshData;

@@ -283,7 +283,7 @@ void mjrf_destroyMesh(mjrfMesh* mesh);
 // A scene is a collection of entities (Lights and Renderables) that describes what is to be
 // rendered.

-struct mjrfSceneParams_ {  // parameters for creating a scene (mjrfScene)
+struct mjrfSceneParams_ {         // parameters for creating a scene (mjrfScene)
 };
 typedef struct mjrfSceneParams_ mjrfSceneParams;

@@ -385,22 +385,22 @@ int mjrf_getLightType(const mjrfLight* light);
 //
 // Which lighting model is used is determined by the mjrfMaterial properties.

-struct mjrfMaterial_ {      // material properties for a renderable (mjrfMaterial)
-  float color[4];           // object color; defaults to white
-  int32_t segmentation_id;  // ID for segmentation rendering; maps to RGB8 color (i.e. 24 bits)
-  int32_t island_id;        // ID to which the renderable belongs
-  int sleep_state;          // mjtSleepState; sleep state of the renderable
-  float uv_scale[3];        // scale applied to UV coordinates; defaults to (1,1,1)
-  float uv_offset[3];       // offset applied to UV coordinates; defaults to (0,0,0)
-  float scissor[4];         // if non-zero, applies scissor testing when rendering
-  float metallic;           // metallic factory [0, 1]; disabled if < 0
-  float roughness;          // roughness factor [0, 1]; disabled if < 0
-  float specular;           // specular factor [0, 1]; disabled if < 0
-  float glossiness;         // glossiness factor [0, 1]; disabled if < 0
-  float emissive;           // emissive/glow factor [0, 1]; disabled if < 0
-  float reflectance;        // blend factor for reflective surfaces [0, 1]; applies only to planes
-  mjtBool decor_ux;         // for ux elements, does not apply any lighting
-  mjtBool selected;         // for "selected" ux elements, adds additional styling
+struct mjrfMaterial_ {        // material properties for a renderable (mjrfMaterial)
+  float color[4];             // object color; defaults to white
+  int32_t segmentation_id;    // ID for segmentation rendering; maps to RGB8 color (i.e. 24 bits)
+  int32_t island_id;          // ID to which the renderable belongs
+  int sleep_state;            // mjtSleepState; sleep state of the renderable
+  float uv_scale[3];          // scale applied to UV coordinates; defaults to (1,1,1)
+  float uv_offset[3];         // offset applied to UV coordinates; defaults to (0,0,0)
+  float scissor[4];           // if non-zero, applies scissor testing when rendering
+  float metallic;             // metallic factory [0, 1]; disabled if < 0
+  float roughness;            // roughness factor [0, 1]; disabled if < 0
+  float specular;             // specular factor [0, 1]; disabled if < 0
+  float glossiness;           // glossiness factor [0, 1]; disabled if < 0
+  float emissive;             // emissive/glow factor [0, 1]; disabled if < 0
+  float reflectance;          // blend factor for reflective surfaces [0, 1]; applies only to planes
+  mjtBool decor_ux;           // for ux elements, does not apply any lighting
+  mjtBool selected;           // for "selected" ux elements, adds additional styling
  const mjrfTexture* color_texture;       // color/albedo texture (RGB8)
  const mjrfTexture* opacity_texture;     // opacity texture (A8)
  const mjrfTexture* normal_texture;      // normal map texture (RGB8)
@@ -491,4 +491,4 @@ void mjrf_DEBUG_drawImguiEditor(mjrfScene* scene);
 }  // extern "C"
 #endif

-#endif  // MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_H_
+#endif  // MUJOCO_MJRFILAMENT_H_
@@ -24,10 +24,10 @@
 #include <math/mathfwd.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/scene_geom_util.h"
 #include "experimental/filament/compat/scene_objects.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"
 #include "render/filament/support/filament_util.h"
 #include "render/filament/support/light_manager.h"
@@ -22,10 +22,10 @@

 #include <math/mat4.h>
 #include <math/vec3.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/scene_objects.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"
 #include "render/filament/support/model_objects.h"
 #include "render/filament/support/light_manager.h"
@@ -19,10 +19,10 @@
 #include <cstring>
 #include <memory>

+#include <mujoco/mjrfilament.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/scene_objects.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"
 #include "render/filament/support/model_objects.h"

@@ -15,11 +15,11 @@
 #ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_
 #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_GEOM_UTIL_H_

+#include <mujoco/mjrfilament.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/scene_objects.h"
 #include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/support/model_objects.h"

 namespace mujoco {
@@ -22,8 +22,8 @@
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"

 namespace mujoco {
@@ -18,8 +18,8 @@
 #include <unordered_map>

 #include <mujoco/mjmodel.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"

 namespace mujoco {
@@ -16,9 +16,9 @@
 #include <cstring>
 #include <memory>

+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/scene_bridge.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"

 // This library implements the entirety of mujoco's mjr API. You can link this
@@ -27,12 +27,12 @@
 #if !defined(__EMSCRIPTEN__) && !defined(__APPLE__)
 #include "experimental/platform/hal/egl_utils.h"
 #endif
+#include <mujoco/mjrfilament.h>
 #include "experimental/filament/compat/scene_bridge.h"
 #include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/platform/ux/imgui_bridge.h"
 #include "experimental/platform/ux/imgui_widgets.h"
 #include "experimental/platform/ux/plugin.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"

 namespace mujoco::platform {
@@ -21,11 +21,11 @@
 #include <ratio>
 #include <span>

+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/scene_bridge.h"
 #include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/platform/ux/imgui_bridge.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"

 namespace mujoco::platform {
@@ -24,8 +24,8 @@
 #include <imgui.h>
 #include <math/mat3.h>
 #include <math/vec3.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"

 namespace mujoco {
@@ -20,7 +20,7 @@
 #include <vector>

 #include <imgui.h>
-#include "render/filament/mjrfilament.h"
+#include <mujoco/mjrfilament.h>
 #include "render/filament/mjrfilament_cpp.h"

 namespace mujoco {
@@ -21,7 +21,6 @@ target_compile_definitions(${MUJOCO_FILAMENT_TARGET_NAME} PRIVATE MJ_STATIC)

 target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
    PUBLIC
-        mjrfilament.h
        mjrfilament.cc
        mjrfilament_cpp.h
        core/builtins.cc
@@ -26,8 +26,8 @@
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
+#include <mujoco/mjrfilament.h>
 #include "render/filament/core/mesh.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/support/filament_util.h"

 namespace mujoco {
@@ -36,13 +36,13 @@
 #include <math/vec4.h>
 #include <utils/FixedCapacityVector.h>
 #include <utils/compiler.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/filament_platform_factory.h"
 #include "render/filament/core/material_manager.h"
 #include "render/filament/core/object_manager.h"
 #include "render/filament/core/render_target.h"
 #include "render/filament/core/scene_view.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -24,9 +24,9 @@
 #include <filament/Renderer.h>
 #include <filament/SwapChain.h>
 #include <math/vec4.h>
+#include <mujoco/mjrfilament.h>
 #include "render/filament/core/material_manager.h"
 #include "render/filament/core/object_manager.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -18,8 +18,8 @@

 #include <backend/Platform.h>
 #include <filament/Engine.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -19,7 +19,7 @@

 #include <backend/Platform.h>
 #include <filament/Engine.h>
-#include "render/filament/mjrfilament.h"
+#include <mujoco/mjrfilament.h>

 namespace mujoco {

@@ -32,9 +32,9 @@
 #include <math/mathfwd.h>
 #include <math/scalar.h>
 #include <math/vec3.h>
+#include <mujoco/mjrfilament.h>
 #include "render/filament/core/color_grading_options.h"
 #include "render/filament/core/scene_view.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -24,9 +24,9 @@
 #include <math/vec3.h>
 #include <utils/Entity.h>
 #include <utils/EntityManager.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/texture.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/support/filament_util.h"

 namespace mujoco {
@@ -19,8 +19,8 @@
 #include <filament/Scene.h>
 #include <math/vec3.h>
 #include <utils/Entity.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -24,11 +24,11 @@
 #include <filament/RenderableManager.h>
 #include <filament/TextureSampler.h>
 #include <math/vec4.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/mesh.h"
 #include "render/filament/core/object_manager.h"
 #include "render/filament/core/texture.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/support/filament_util.h"

 namespace mujoco {
@@ -21,10 +21,10 @@

 #include <filament/Engine.h>
 #include <filament/MaterialInstance.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/mesh.h"
 #include "render/filament/core/object_manager.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -31,8 +31,8 @@
 #include <math/TVecHelpers.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"
 #include "render/filament/support/filament_util.h"

 namespace mujoco {
@@ -28,7 +28,7 @@
 #include <filament/RenderableManager.h>
 #include <filament/VertexBuffer.h>
 #include <math/vec4.h>
-#include "render/filament/mjrfilament.h"
+#include <mujoco/mjrfilament.h>

 namespace mujoco {

@@ -28,11 +28,11 @@
 #include <filament/Viewport.h>
 #include <math/vec4.h>
 #include <utils/EntityManager.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/object_manager.h"
 #include "render/filament/core/render_target.h"
 #include "render/filament/core/texture.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -17,8 +17,8 @@
 #include <memory>

 #include <filament/Engine.h>
+#include <mujoco/mjrfilament.h>
 #include "render/filament/core/render_target.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -19,8 +19,8 @@
 #include <vector>

 #include <filament/Engine.h>
+#include <mujoco/mjrfilament.h>
 #include "render/filament/core/render_target.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -25,9 +25,9 @@
 #include <filament/RenderTarget.h>
 #include <filament/Renderer.h>
 #include <filament/Texture.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/texture.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -21,8 +21,8 @@

 #include <filament/Engine.h>
 #include <filament/Texture.h>
+#include <mujoco/mjrfilament.h>
 #include "render/filament/core/texture.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -33,13 +33,13 @@
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include <utils/EntityManager.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "engine/engine_vis_visualize.h"
 #include "render/filament/core/builtins.h"
 #include "render/filament/core/material_manager.h"
 #include "render/filament/core/mesh.h"
 #include "render/filament/core/reflection_manager.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/support/filament_util.h"

 namespace mujoco {
@@ -27,11 +27,11 @@
 #include <math/mat4.h>
 #include <math/vec3.h>
 #include <utils/Entity.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/material_manager.h"
 #include "render/filament/core/mesh.h"
 #include "render/filament/core/reflection_manager.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -38,6 +38,7 @@
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include <utils/EntityManager.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/color_grading_options.h"
 #include "render/filament/core/light.h"
@@ -48,7 +49,6 @@
 #include "render/filament/core/render_target.h"
 #include "render/filament/core/renderable.h"
 #include "render/filament/core/texture.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/support/filament_util.h"

 namespace mujoco {
@@ -24,6 +24,7 @@
 #include <filament/Engine.h>
 #include <filament/Scene.h>
 #include <filament/View.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/core/color_grading_options.h"
 #include "render/filament/core/light.h"
@@ -33,7 +34,6 @@
 #include "render/filament/core/reflection_manager.h"
 #include "render/filament/core/renderable.h"
 #include "render/filament/core/texture.h"
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -23,8 +23,8 @@
 #include <filament/Texture.h>
 #include <image/Ktx1Bundle.h>
 #include <ktxreader/Ktx1Reader.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"

 namespace mujoco {

@@ -18,7 +18,7 @@
 #include <filament/Engine.h>
 #include <filament/Texture.h>
 #include <math/vec3.h>
-#include "render/filament/mjrfilament.h"
+#include <mujoco/mjrfilament.h>

 // Functions for creating filament textures.
 namespace mujoco {
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.

-#include "render/filament/mjrfilament.h"
+#include <mujoco/mjrfilament.h>

 #include <array>
 #include <cstdint>
@@ -18,7 +18,7 @@
 #include <memory>
 #include <string>

-#include "render/filament/mjrfilament.h"
+#include <mujoco/mjrfilament.h>

 namespace mujoco {

@@ -22,9 +22,9 @@
 #include <math/mathfwd.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
 #include "render/filament/mjrfilament_cpp.h"
-#include "render/filament/mjrfilament.h"
 #include "render/filament/support/filament_util.h"
 #include "render/filament/support/model_objects.h"

@@ -17,8 +17,8 @@

 #include <vector>

+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"
 #include "render/filament/support/model_objects.h"

@@ -26,8 +26,8 @@
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"
 #include "render/filament/support/filament_util.h"

@@ -18,8 +18,8 @@
 #include <unordered_map>

 #include <mujoco/mjmodel.h>
+#include <mujoco/mjrfilament.h>
 #include <mujoco/mujoco.h>
-#include "render/filament/mjrfilament.h"
 #include "render/filament/mjrfilament_cpp.h"

 namespace mujoco {
@@ -62,6 +62,7 @@ public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
 public const int mjNAUX = 10;
 public const int mjMAXTEXTURE = 1000;
 public const int mjMAXMATERIAL = 1000;
+public const bool THIRD_PARTY_MUJOCO_MJRFILAMENT_H_ = true;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSAN_H_ = true;
 public const bool ADDRESS_SANITIZER = true;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;