Merge math_util and model_util and rename to filament_util.

Move filament_util to the main folder so as to indicate that
these utilities can be used by anyone and aren't internal to
the filament renderer implementation.

PiperOrigin-RevId: 911884375
Change-Id: Ieb58184263bdac7e44a07f1e44a4649c68c6bf77

src/experimental/filament/CMakeLists.txt

@@ -24,6 +24,7 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         render_context_filament.h
         render_context_filament.cc
         render_context_filament_cpp.h
+        filament_util.h
         filament/builtins.cc
         filament/builtins.h
         filament/color_grading_options.cc
@@ -37,11 +38,8 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         filament/light.h
         filament/material.cc
         filament/material.h
-        filament/math_util.cc
-        filament/math_util.h
         filament/mesh.cc
         filament/mesh.h
-        filament/model_util.h
         filament/object_manager.cc
         filament/object_manager.h
         filament/render_target.cc

src/experimental/filament/compat/mjr_filament_renderer.cc

@@ -18,17 +18,14 @@
 #include <cstdint>
 #include <memory>
 
-#include <math/mathfwd.h>
-#include <math/vec4.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/imgui_bridge.h"
 #include "experimental/filament/compat/scene_bridge.h"
 #include "experimental/filament/filament/filament_context.h"
-#include "experimental/filament/filament/model_util.h"
-#include "experimental/filament/render_context_filament.h"
 #include "experimental/filament/render_context_filament_cpp.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/model_objects.cc

@@ -29,10 +29,9 @@
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/math_util.h"
+#include "experimental/filament/filament_util.h"
-#include "experimental/filament/filament/model_util.h"
-#include "experimental/filament/render_context_filament.h"
 #include "experimental/filament/render_context_filament_cpp.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 

src/experimental/filament/compat/scene_bridge.cc

@@ -23,16 +23,15 @@
 #include <math/TMatHelpers.h>
 #include <math/mat4.h>
 #include <math/mathfwd.h>
+#include <math/TVecHelpers.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
-#include <math/TVecHelpers.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/model_objects.h"
 #include "experimental/filament/compat/scene_geom_util.h"
-#include "experimental/filament/filament/math_util.h"
+#include "experimental/filament/filament_util.h"
-#include "experimental/filament/filament/model_util.h"
-#include "experimental/filament/render_context_filament.h"
 #include "experimental/filament/render_context_filament_cpp.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 

src/experimental/filament/filament/builtins.cc

@@ -26,7 +26,7 @@
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
-#include "experimental/filament/filament/math_util.h"
+#include "experimental/filament/filament_util.h"
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/render_context_filament.h"
 

src/experimental/filament/filament/light.cc

@@ -25,8 +25,8 @@
 #include <utils/Entity.h>
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament_util.h"
 #include "experimental/filament/filament/filament_context.h"
-#include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/texture.h"
 #include "experimental/filament/render_context_filament.h"
 

src/experimental/filament/filament/material.cc

@@ -20,9 +20,9 @@
 #include <filament/RenderableManager.h>
 #include <filament/TextureSampler.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/math_util.h"
+#include "experimental/filament/filament_util.h"
-#include "experimental/filament/filament/texture.h"
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/filament/texture.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {

src/experimental/filament/filament/mesh.cc

@@ -32,7 +32,7 @@
 #include <math/vec3.h>
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/math_util.h"
+#include "experimental/filament/filament_util.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {

src/experimental/filament/filament/model_util.h

@@ -1,75 +0,0 @@
-// Copyright 2025 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MODEL_UTIL_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MODEL_UTIL_H_
-
-#include <string_view>
-
-#include <math/vec2.h>
-#include <math/vec3.h>
-#include <math/vec4.h>
-#include <mujoco/mjmodel.h>
-#include <mujoco/mujoco.h>
-
-namespace mujoco {
-
-// Reads a value with the given name from the mjModel's data sections. The
-// default_value is returned if the named element is not found.
-template <typename T>
-T ReadElement(const mjModel* model, const char* name, T default_value = T()) {
-  constexpr bool is_string =
-      std::is_same_v<T, const char*> || std::is_same_v<T, std::string_view>;
-
-  const int type = is_string ? mjOBJ_TEXT : mjOBJ_NUMERIC;
-  const int id = mj_name2id(model, type, name);
-  if (id < 0) {
-    return default_value;
-  }
-
-  if constexpr (std::is_same_v<T, const char*>) {
-    const char* ptr = model->text_data + model->text_adr[id];
-    return ptr;
-  } else if constexpr (std::is_same_v<T, std::string_view>) {
-    const char* ptr = model->text_data + model->text_adr[id];
-    // Do not include the null terminator in the string view.
-    return std::string_view(ptr, model->text_size[id] - 1);
-  } else if constexpr (std::is_arithmetic_v<T>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    return static_cast<T>(*ptr);
-  } else if constexpr (std::is_enum_v<T>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    return static_cast<T>(static_cast<int>(*ptr));
-  } else if constexpr (std::is_same_v<T, filament::math::float2>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    if (model->numeric_size[id] != 2) mju_error("Invalid numeric size.");
-    return T{ptr[0], ptr[1]};
-  } else if constexpr (std::is_same_v<T, filament::math::float3>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    if (model->numeric_size[id] != 3) mju_error("Invalid numeric size.");
-    return T{ptr[0], ptr[1], ptr[2]};
-  } else if constexpr (std::is_same_v<T, filament::math::float4>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    if (model->numeric_size[id] != 4) mju_error("Invalid numeric size.");
-    return T{ptr[0], ptr[1], ptr[2], ptr[3]};
-  } else if constexpr (std::is_same_v<T, bool>) {
-    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
-    return static_cast<T>(*ptr != 0);
-  }
-  return default_value;
-}
-
-}  // namespace mujoco
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MODEL_UTIL_H_

src/experimental/filament/filament/renderable.cc

@@ -29,10 +29,10 @@
 #include <math/vec4.h>
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament_util.h"
 #include "experimental/filament/filament/builtins.h"
 #include "experimental/filament/filament/filament_context.h"
 #include "experimental/filament/filament/material.h"
-#include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/texture.h"

src/experimental/filament/filament/renderable.h

@@ -24,8 +24,8 @@
 #include <math/mat4.h>
 #include <utils/Entity.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament_util.h"
 #include "experimental/filament/filament/filament_context.h"
-#include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/render_context_filament.h"

src/experimental/filament/filament/scene_view.cc

@@ -35,16 +35,15 @@
 #include <math/mat4.h>
 #include <math/mathfwd.h>
 #include <math/scalar.h>
+#include <math/TVecHelpers.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
-#include <math/TVecHelpers.h>
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
+#include "experimental/filament/filament_util.h"
 #include "experimental/filament/filament/color_grading_options.h"
 #include "experimental/filament/filament/filament_context.h"
 #include "experimental/filament/filament/light.h"
-#include "experimental/filament/filament/math_util.h"
-#include "experimental/filament/filament/model_util.h"
 #include "experimental/filament/filament/render_target.h"
 #include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/texture.h"

src/experimental/filament/filament_util.cc

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/math_util.h"
+#include "experimental/filament/filament_util.h"
 #include <limits>
 
 #include <math/mat3.h>

src/experimental/filament/filament_util.h

@@ -12,14 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MATH_UTIL_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_UTIL_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MATH_UTIL_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_UTIL_H_
 
 #include <math/mat3.h>
 #include <math/mat4.h>
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
 
 namespace mujoco {
 
@@ -96,6 +98,51 @@ filament::math::float4 CalculateOrientation(
     const filament::math::float3& p2,
     const filament::math::float3& p3);
 
+// Reads a value with the given name from the mjModel's data sections. The
+// default_value is returned if the named element is not found.
+template <typename T>
+T ReadElement(const mjModel* model, const char* name, T default_value = T()) {
+  constexpr bool is_string =
+      std::is_same_v<T, const char*> || std::is_same_v<T, std::string_view>;
+
+  const int type = is_string ? mjOBJ_TEXT : mjOBJ_NUMERIC;
+  const int id = mj_name2id(model, type, name);
+  if (id < 0) {
+    return default_value;
+  }
+
+  if constexpr (std::is_same_v<T, const char*>) {
+    const char* ptr = model->text_data + model->text_adr[id];
+    return ptr;
+  } else if constexpr (std::is_same_v<T, std::string_view>) {
+    const char* ptr = model->text_data + model->text_adr[id];
+    // Do not include the null terminator in the string view.
+    return std::string_view(ptr, model->text_size[id] - 1);
+  } else if constexpr (std::is_arithmetic_v<T>) {
+    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
+    return static_cast<T>(*ptr);
+  } else if constexpr (std::is_enum_v<T>) {
+    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
+    return static_cast<T>(static_cast<int>(*ptr));
+  } else if constexpr (std::is_same_v<T, filament::math::float2>) {
+    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
+    if (model->numeric_size[id] != 2) mju_error("Invalid numeric size.");
+    return T{ptr[0], ptr[1]};
+  } else if constexpr (std::is_same_v<T, filament::math::float3>) {
+    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
+    if (model->numeric_size[id] != 3) mju_error("Invalid numeric size.");
+    return T{ptr[0], ptr[1], ptr[2]};
+  } else if constexpr (std::is_same_v<T, filament::math::float4>) {
+    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
+    if (model->numeric_size[id] != 4) mju_error("Invalid numeric size.");
+    return T{ptr[0], ptr[1], ptr[2], ptr[3]};
+  } else if constexpr (std::is_same_v<T, bool>) {
+    const mjtNum* ptr = model->numeric_data + model->numeric_adr[id];
+    return static_cast<T>(*ptr != 0);
+  }
+  return default_value;
+}
+
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MATH_UTIL_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_UTIL_H_