From d93c102190ddf16fe483e7ac8686f5ac28fc9710 Mon Sep 17 00:00:00 2001 From: Haroon Qureshi Date: Fri, 19 Jun 2026 08:00:10 -0700 Subject: [PATCH] Move mjrfilament.h to mujoco/include. PiperOrigin-RevId: 934931460 Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1 --- CMakeLists.txt | 1 + doc/programming/index.rst | 2 + .../filament => include/mujoco}/mjrfilament.h | 76 +++++++++---------- .../filament/compat/scene_bridge.cc | 2 +- .../filament/compat/scene_bridge.h | 2 +- .../filament/compat/scene_geom_util.cc | 2 +- .../filament/compat/scene_geom_util.h | 2 +- .../filament/compat/scene_objects.cc | 2 +- .../filament/compat/scene_objects.h | 2 +- src/experimental/filament/mjr_compat.cc | 2 +- src/experimental/platform/hal/renderer.cc | 2 +- src/experimental/platform/hal/renderer.h | 2 +- src/experimental/platform/ux/imgui_bridge.cc | 2 +- src/experimental/platform/ux/imgui_bridge.h | 2 +- src/render/filament/CMakeLists.txt | 1 - src/render/filament/core/builtins.cc | 2 +- src/render/filament/core/filament_context.cc | 2 +- src/render/filament/core/filament_context.h | 2 +- .../core/filament_platform_factory.cc | 2 +- .../filament/core/filament_platform_factory.h | 2 +- src/render/filament/core/imgui_editor.cc | 2 +- src/render/filament/core/light.cc | 2 +- src/render/filament/core/light.h | 2 +- src/render/filament/core/material_manager.cc | 2 +- src/render/filament/core/material_manager.h | 2 +- src/render/filament/core/mesh.cc | 2 +- src/render/filament/core/mesh.h | 2 +- src/render/filament/core/outliner.cc | 2 +- .../filament/core/reflection_manager.cc | 2 +- src/render/filament/core/reflection_manager.h | 2 +- src/render/filament/core/render_target.cc | 2 +- src/render/filament/core/render_target.h | 2 +- src/render/filament/core/renderable.cc | 2 +- src/render/filament/core/renderable.h | 2 +- src/render/filament/core/scene_view.cc | 2 +- src/render/filament/core/scene_view.h | 2 +- src/render/filament/core/texture.cc | 2 +- src/render/filament/core/texture.h | 2 +- src/render/filament/mjrfilament.cc | 2 +- src/render/filament/mjrfilament_cpp.h | 2 +- src/render/filament/support/light_manager.cc | 2 +- src/render/filament/support/light_manager.h | 2 +- src/render/filament/support/model_objects.cc | 2 +- src/render/filament/support/model_objects.h | 2 +- unity/Runtime/Bindings/MjBindings.cs | 1 + 45 files changed, 82 insertions(+), 79 deletions(-) rename {src/render/filament => include/mujoco}/mjrfilament.h (88%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 06a24eb6..73d1a1f0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -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 diff --git a/doc/programming/index.rst b/doc/programming/index.rst index 25aa9ee9..bbb640f1 100644 --- a/doc/programming/index.rst +++ b/doc/programming/index.rst @@ -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 `__ Defines the primitive types and structures needed by the OpenGL renderer. +`mjrfilament.h `__ + Defines the primitive types and structures needed by the filament renderer. `mjui.h `__ Defines the primitive types and structures needed by the UI framework. `mjtype.h `__ diff --git a/src/render/filament/mjrfilament.h b/include/mujoco/mjrfilament.h similarity index 88% rename from src/render/filament/mjrfilament.h rename to include/mujoco/mjrfilament.h index 0f6e0aaf..d6e00039 100644 --- a/src/render/filament/mjrfilament.h +++ b/include/mujoco/mjrfilament.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 @@ -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_ diff --git a/src/experimental/filament/compat/scene_bridge.cc b/src/experimental/filament/compat/scene_bridge.cc index 4ffc4ed6..25e8fd39 100644 --- a/src/experimental/filament/compat/scene_bridge.cc +++ b/src/experimental/filament/compat/scene_bridge.cc @@ -24,10 +24,10 @@ #include #include #include +#include #include #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" diff --git a/src/experimental/filament/compat/scene_bridge.h b/src/experimental/filament/compat/scene_bridge.h index f1c8c08f..2b0a0f1e 100644 --- a/src/experimental/filament/compat/scene_bridge.h +++ b/src/experimental/filament/compat/scene_bridge.h @@ -22,10 +22,10 @@ #include #include +#include #include #include #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" diff --git a/src/experimental/filament/compat/scene_geom_util.cc b/src/experimental/filament/compat/scene_geom_util.cc index 48ed3fe2..cff09a47 100644 --- a/src/experimental/filament/compat/scene_geom_util.cc +++ b/src/experimental/filament/compat/scene_geom_util.cc @@ -19,10 +19,10 @@ #include #include +#include #include #include #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" diff --git a/src/experimental/filament/compat/scene_geom_util.h b/src/experimental/filament/compat/scene_geom_util.h index 57954315..636acdcb 100644 --- a/src/experimental/filament/compat/scene_geom_util.h +++ b/src/experimental/filament/compat/scene_geom_util.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 #include #include #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 { diff --git a/src/experimental/filament/compat/scene_objects.cc b/src/experimental/filament/compat/scene_objects.cc index 44a65378..c4f2b7f6 100644 --- a/src/experimental/filament/compat/scene_objects.cc +++ b/src/experimental/filament/compat/scene_objects.cc @@ -22,8 +22,8 @@ #include #include #include +#include #include -#include "render/filament/mjrfilament.h" #include "render/filament/mjrfilament_cpp.h" namespace mujoco { diff --git a/src/experimental/filament/compat/scene_objects.h b/src/experimental/filament/compat/scene_objects.h index 7e45b523..bebf020d 100644 --- a/src/experimental/filament/compat/scene_objects.h +++ b/src/experimental/filament/compat/scene_objects.h @@ -18,8 +18,8 @@ #include #include +#include #include -#include "render/filament/mjrfilament.h" #include "render/filament/mjrfilament_cpp.h" namespace mujoco { diff --git a/src/experimental/filament/mjr_compat.cc b/src/experimental/filament/mjr_compat.cc index 1bdc3480..39c0e6b3 100644 --- a/src/experimental/filament/mjr_compat.cc +++ b/src/experimental/filament/mjr_compat.cc @@ -16,9 +16,9 @@ #include #include +#include #include #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 diff --git a/src/experimental/platform/hal/renderer.cc b/src/experimental/platform/hal/renderer.cc index 982a99c1..e462e9d0 100644 --- a/src/experimental/platform/hal/renderer.cc +++ b/src/experimental/platform/hal/renderer.cc @@ -27,12 +27,12 @@ #if !defined(__EMSCRIPTEN__) && !defined(__APPLE__) #include "experimental/platform/hal/egl_utils.h" #endif +#include #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 { diff --git a/src/experimental/platform/hal/renderer.h b/src/experimental/platform/hal/renderer.h index 5c2176ca..bc82ea38 100644 --- a/src/experimental/platform/hal/renderer.h +++ b/src/experimental/platform/hal/renderer.h @@ -21,11 +21,11 @@ #include #include +#include #include #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 { diff --git a/src/experimental/platform/ux/imgui_bridge.cc b/src/experimental/platform/ux/imgui_bridge.cc index f2680ba4..6ebcfd63 100644 --- a/src/experimental/platform/ux/imgui_bridge.cc +++ b/src/experimental/platform/ux/imgui_bridge.cc @@ -24,8 +24,8 @@ #include #include #include +#include #include -#include "render/filament/mjrfilament.h" #include "render/filament/mjrfilament_cpp.h" namespace mujoco { diff --git a/src/experimental/platform/ux/imgui_bridge.h b/src/experimental/platform/ux/imgui_bridge.h index cc1390da..432e7ec7 100644 --- a/src/experimental/platform/ux/imgui_bridge.h +++ b/src/experimental/platform/ux/imgui_bridge.h @@ -20,7 +20,7 @@ #include #include -#include "render/filament/mjrfilament.h" +#include #include "render/filament/mjrfilament_cpp.h" namespace mujoco { diff --git a/src/render/filament/CMakeLists.txt b/src/render/filament/CMakeLists.txt index 2e91a13a..3ff818cb 100644 --- a/src/render/filament/CMakeLists.txt +++ b/src/render/filament/CMakeLists.txt @@ -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 diff --git a/src/render/filament/core/builtins.cc b/src/render/filament/core/builtins.cc index e9a60225..dd71d2bc 100644 --- a/src/render/filament/core/builtins.cc +++ b/src/render/filament/core/builtins.cc @@ -26,8 +26,8 @@ #include #include #include +#include #include "render/filament/core/mesh.h" -#include "render/filament/mjrfilament.h" #include "render/filament/support/filament_util.h" namespace mujoco { diff --git a/src/render/filament/core/filament_context.cc b/src/render/filament/core/filament_context.cc index 2bb12a67..1e386165 100644 --- a/src/render/filament/core/filament_context.cc +++ b/src/render/filament/core/filament_context.cc @@ -36,13 +36,13 @@ #include #include #include +#include #include #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 { diff --git a/src/render/filament/core/filament_context.h b/src/render/filament/core/filament_context.h index ae3a97c9..fe62b967 100644 --- a/src/render/filament/core/filament_context.h +++ b/src/render/filament/core/filament_context.h @@ -24,9 +24,9 @@ #include #include #include +#include #include "render/filament/core/material_manager.h" #include "render/filament/core/object_manager.h" -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/filament_platform_factory.cc b/src/render/filament/core/filament_platform_factory.cc index 1d6bef62..9e6983c2 100644 --- a/src/render/filament/core/filament_platform_factory.cc +++ b/src/render/filament/core/filament_platform_factory.cc @@ -18,8 +18,8 @@ #include #include +#include #include -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/filament_platform_factory.h b/src/render/filament/core/filament_platform_factory.h index 7f2ff0ca..03866036 100644 --- a/src/render/filament/core/filament_platform_factory.h +++ b/src/render/filament/core/filament_platform_factory.h @@ -19,7 +19,7 @@ #include #include -#include "render/filament/mjrfilament.h" +#include namespace mujoco { diff --git a/src/render/filament/core/imgui_editor.cc b/src/render/filament/core/imgui_editor.cc index 607eecc6..a3548f03 100644 --- a/src/render/filament/core/imgui_editor.cc +++ b/src/render/filament/core/imgui_editor.cc @@ -32,9 +32,9 @@ #include #include #include +#include #include "render/filament/core/color_grading_options.h" #include "render/filament/core/scene_view.h" -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/light.cc b/src/render/filament/core/light.cc index f1d0743f..489e766f 100644 --- a/src/render/filament/core/light.cc +++ b/src/render/filament/core/light.cc @@ -24,9 +24,9 @@ #include #include #include +#include #include #include "render/filament/core/texture.h" -#include "render/filament/mjrfilament.h" #include "render/filament/support/filament_util.h" namespace mujoco { diff --git a/src/render/filament/core/light.h b/src/render/filament/core/light.h index 67fb5db6..cab666e9 100644 --- a/src/render/filament/core/light.h +++ b/src/render/filament/core/light.h @@ -19,8 +19,8 @@ #include #include #include +#include #include -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/material_manager.cc b/src/render/filament/core/material_manager.cc index 207a31e5..a1da1716 100644 --- a/src/render/filament/core/material_manager.cc +++ b/src/render/filament/core/material_manager.cc @@ -24,11 +24,11 @@ #include #include #include +#include #include #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 { diff --git a/src/render/filament/core/material_manager.h b/src/render/filament/core/material_manager.h index e935dac8..4c68bb24 100644 --- a/src/render/filament/core/material_manager.h +++ b/src/render/filament/core/material_manager.h @@ -21,10 +21,10 @@ #include #include +#include #include #include "render/filament/core/mesh.h" #include "render/filament/core/object_manager.h" -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/mesh.cc b/src/render/filament/core/mesh.cc index c80a1fa1..11302ac6 100644 --- a/src/render/filament/core/mesh.cc +++ b/src/render/filament/core/mesh.cc @@ -31,8 +31,8 @@ #include #include #include +#include #include -#include "render/filament/mjrfilament.h" #include "render/filament/support/filament_util.h" namespace mujoco { diff --git a/src/render/filament/core/mesh.h b/src/render/filament/core/mesh.h index 4831f352..4a5a7737 100644 --- a/src/render/filament/core/mesh.h +++ b/src/render/filament/core/mesh.h @@ -28,7 +28,7 @@ #include #include #include -#include "render/filament/mjrfilament.h" +#include namespace mujoco { diff --git a/src/render/filament/core/outliner.cc b/src/render/filament/core/outliner.cc index a8d867ff..9b0bb28a 100644 --- a/src/render/filament/core/outliner.cc +++ b/src/render/filament/core/outliner.cc @@ -28,11 +28,11 @@ #include #include #include +#include #include #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 { diff --git a/src/render/filament/core/reflection_manager.cc b/src/render/filament/core/reflection_manager.cc index 3b8e3a95..d39504b9 100644 --- a/src/render/filament/core/reflection_manager.cc +++ b/src/render/filament/core/reflection_manager.cc @@ -17,8 +17,8 @@ #include #include +#include #include "render/filament/core/render_target.h" -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/reflection_manager.h b/src/render/filament/core/reflection_manager.h index 29041aef..3297d04a 100644 --- a/src/render/filament/core/reflection_manager.h +++ b/src/render/filament/core/reflection_manager.h @@ -19,8 +19,8 @@ #include #include +#include #include "render/filament/core/render_target.h" -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/render_target.cc b/src/render/filament/core/render_target.cc index 4f5b1d55..7c6b939f 100644 --- a/src/render/filament/core/render_target.cc +++ b/src/render/filament/core/render_target.cc @@ -25,9 +25,9 @@ #include #include #include +#include #include #include "render/filament/core/texture.h" -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/render_target.h b/src/render/filament/core/render_target.h index 5051e331..f9a8e187 100644 --- a/src/render/filament/core/render_target.h +++ b/src/render/filament/core/render_target.h @@ -21,8 +21,8 @@ #include #include +#include #include "render/filament/core/texture.h" -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/renderable.cc b/src/render/filament/core/renderable.cc index 22cde83b..466b2432 100644 --- a/src/render/filament/core/renderable.cc +++ b/src/render/filament/core/renderable.cc @@ -33,13 +33,13 @@ #include #include #include +#include #include #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 { diff --git a/src/render/filament/core/renderable.h b/src/render/filament/core/renderable.h index 42075c1e..137d4f4b 100644 --- a/src/render/filament/core/renderable.h +++ b/src/render/filament/core/renderable.h @@ -27,11 +27,11 @@ #include #include #include +#include #include #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 { diff --git a/src/render/filament/core/scene_view.cc b/src/render/filament/core/scene_view.cc index 8314932b..78d7a000 100644 --- a/src/render/filament/core/scene_view.cc +++ b/src/render/filament/core/scene_view.cc @@ -38,6 +38,7 @@ #include #include #include +#include #include #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 { diff --git a/src/render/filament/core/scene_view.h b/src/render/filament/core/scene_view.h index e46893d0..53f9b160 100644 --- a/src/render/filament/core/scene_view.h +++ b/src/render/filament/core/scene_view.h @@ -24,6 +24,7 @@ #include #include #include +#include #include #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 { diff --git a/src/render/filament/core/texture.cc b/src/render/filament/core/texture.cc index f9d77e68..2e11d5b7 100644 --- a/src/render/filament/core/texture.cc +++ b/src/render/filament/core/texture.cc @@ -23,8 +23,8 @@ #include #include #include +#include #include -#include "render/filament/mjrfilament.h" namespace mujoco { diff --git a/src/render/filament/core/texture.h b/src/render/filament/core/texture.h index 71c9a686..8fe4778d 100644 --- a/src/render/filament/core/texture.h +++ b/src/render/filament/core/texture.h @@ -18,7 +18,7 @@ #include #include #include -#include "render/filament/mjrfilament.h" +#include // Functions for creating filament textures. namespace mujoco { diff --git a/src/render/filament/mjrfilament.cc b/src/render/filament/mjrfilament.cc index e4b43d59..2125990c 100644 --- a/src/render/filament/mjrfilament.cc +++ b/src/render/filament/mjrfilament.cc @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "render/filament/mjrfilament.h" +#include #include #include diff --git a/src/render/filament/mjrfilament_cpp.h b/src/render/filament/mjrfilament_cpp.h index 08b15478..d790dd9f 100644 --- a/src/render/filament/mjrfilament_cpp.h +++ b/src/render/filament/mjrfilament_cpp.h @@ -18,7 +18,7 @@ #include #include -#include "render/filament/mjrfilament.h" +#include namespace mujoco { diff --git a/src/render/filament/support/light_manager.cc b/src/render/filament/support/light_manager.cc index 3c7091f5..8cefc6ee 100644 --- a/src/render/filament/support/light_manager.cc +++ b/src/render/filament/support/light_manager.cc @@ -22,9 +22,9 @@ #include #include #include +#include #include #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" diff --git a/src/render/filament/support/light_manager.h b/src/render/filament/support/light_manager.h index 030b7d88..6a843334 100644 --- a/src/render/filament/support/light_manager.h +++ b/src/render/filament/support/light_manager.h @@ -17,8 +17,8 @@ #include +#include #include -#include "render/filament/mjrfilament.h" #include "render/filament/mjrfilament_cpp.h" #include "render/filament/support/model_objects.h" diff --git a/src/render/filament/support/model_objects.cc b/src/render/filament/support/model_objects.cc index 8fb6aeb6..98f64c96 100644 --- a/src/render/filament/support/model_objects.cc +++ b/src/render/filament/support/model_objects.cc @@ -26,8 +26,8 @@ #include #include #include +#include #include -#include "render/filament/mjrfilament.h" #include "render/filament/mjrfilament_cpp.h" #include "render/filament/support/filament_util.h" diff --git a/src/render/filament/support/model_objects.h b/src/render/filament/support/model_objects.h index 22e11037..61b75e0d 100644 --- a/src/render/filament/support/model_objects.h +++ b/src/render/filament/support/model_objects.h @@ -18,8 +18,8 @@ #include #include +#include #include -#include "render/filament/mjrfilament.h" #include "render/filament/mjrfilament_cpp.h" namespace mujoco { diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index ebf97afe..c3670fb6 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -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;