Move mjrfilament.h to mujoco/include.

PiperOrigin-RevId: 934931460
Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1

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

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 <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>`__

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_
+#ifndef MUJOCO_MJRFILAMENT_H_
-#define MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_H_
+#define MUJOCO_MJRFILAMENT_H_
 
 #include <stdint.h>
 
@@ -491,4 +491,4 @@ void mjrf_DEBUG_drawImguiEditor(mjrfScene* scene);
 }  // extern "C"
 #endif
 
-#endif  // MUJOCO_SRC_RENDER_FILAMENT_MJRFILAMENT_H_
+#endif  // MUJOCO_MJRFILAMENT_H_

src/experimental/filament/compat/scene_bridge.cc

@@ -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"

src/experimental/filament/compat/scene_bridge.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"

src/experimental/filament/compat/scene_geom_util.cc

@@ -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"
 

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 <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 {

src/experimental/filament/compat/scene_objects.cc

@@ -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 {

src/experimental/filament/compat/scene_objects.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 {

src/experimental/filament/mjr_compat.cc

@@ -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

src/experimental/platform/hal/renderer.cc

@@ -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 {

src/experimental/platform/hal/renderer.h

@@ -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 {

src/experimental/platform/ux/imgui_bridge.cc

@@ -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 {

src/experimental/platform/ux/imgui_bridge.h

@@ -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 {

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

src/render/filament/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 {

src/render/filament/core/filament_context.cc

@@ -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 {
 

src/render/filament/core/filament_context.h

@@ -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 {
 

src/render/filament/core/filament_platform_factory.cc

@@ -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 {
 

src/render/filament/core/filament_platform_factory.h

@@ -19,7 +19,7 @@
 
 #include <backend/Platform.h>
 #include <filament/Engine.h>
-#include "render/filament/mjrfilament.h"
+#include <mujoco/mjrfilament.h>
 
 namespace mujoco {
 

src/render/filament/core/imgui_editor.cc

@@ -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 {
 

src/render/filament/core/light.cc

@@ -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 {

src/render/filament/core/light.h

@@ -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 {
 

src/render/filament/core/material_manager.cc

@@ -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 {

src/render/filament/core/material_manager.h

@@ -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 {
 

src/render/filament/core/mesh.cc

@@ -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 {

src/render/filament/core/mesh.h

@@ -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 {
 

src/render/filament/core/outliner.cc

@@ -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 {
 

src/render/filament/core/reflection_manager.cc

@@ -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 {
 

src/render/filament/core/reflection_manager.h

@@ -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 {
 

src/render/filament/core/render_target.cc

@@ -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 {
 

src/render/filament/core/render_target.h

@@ -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 {
 

src/render/filament/core/renderable.cc

@@ -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 {

src/render/filament/core/renderable.h

@@ -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 {
 

src/render/filament/core/scene_view.cc

@@ -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 {

src/render/filament/core/scene_view.h

@@ -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 {
 

src/render/filament/core/texture.cc

@@ -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 {
 

src/render/filament/core/texture.h

@@ -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 {

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 <mujoco/mjrfilament.h>
 
 #include <array>
 #include <cstdint>

src/render/filament/mjrfilament_cpp.h

@@ -18,7 +18,7 @@
 #include <memory>
 #include <string>
 
-#include "render/filament/mjrfilament.h"
+#include <mujoco/mjrfilament.h>
 
 namespace mujoco {
 

src/render/filament/support/light_manager.cc

@@ -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"
 

src/render/filament/support/light_manager.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"
 

src/render/filament/support/model_objects.cc

@@ -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"
 

src/render/filament/support/model_objects.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 {

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;