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Remove ModelObjects as a dependency on ModelDecorations.

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Also allow users to Clear() the decorations explicitly.

PiperOrigin-RevId: 952152025
Change-Id: Ieb21d59986b127b4646c8c5721d33920d14dff85
This commit is contained in:
Haroon Qureshi
2026-07-22 09:00:56 -07:00
committed by Copybara-Service
parent 1a5af23558
commit e1f6953efa
2 changed files with 54 additions and 54 deletions
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src/render/filament/support/model_decorations.cc
+47 -50
View File
@@ -26,7 +26,6 @@
#include <mujoco/mjrfilament.h>
#include <mujoco/mujoco.h>
#include "render/filament/mjrfilament_cpp.h"
#include "render/filament/support/model_objects.h"
namespace mujoco {
@@ -34,15 +33,21 @@ using filament::math::float3;
using filament::math::float4;
using filament::math::mat4;
ModelDecorations::ModelDecorations(mjrfScene* scene, ModelObjects* model_objects,
int num_geoms)
: scene_(scene), model_objects_(model_objects) {
ModelDecorations::ModelDecorations(mjrfContext* ctx, mjrfScene* scene,
const mjModel* model, int num_geoms)
: ctx_(ctx), scene_(scene), model_(model) {
std::memset(&mjv_scene_, 0, sizeof(mjvScene));
mjv_makeScene(model_objects_->GetModel(), &mjv_scene_, 2000);
mjv_makeScene(model_, &mjv_scene_, 2000);
}
ModelDecorations::~ModelDecorations() {
mjv_freeScene(&mjv_scene_);
ModelDecorations::~ModelDecorations() { mjv_freeScene(&mjv_scene_); }
void ModelDecorations::Clear() {
for (auto& iter : decorations_) {
mjrf_removeRenderableFromScene(scene_, iter.get());
}
decorations_.clear();
meshes_.clear();
}
static mat4 CalcClipFromWorld(const mjModel* model, const mjData* data,
@@ -102,19 +107,19 @@ static mat4 CalcClipFromWorld(const mjModel* model, const mjData* data,
}
void ModelDecorations::Update(mjData* data, const mjvOption* vis_option,
const mjvPerturb* perturb, mjvCamera* camera,
const mjrRect& viewport,
DrawTextAtFn draw_text_at_fn,
std::span<const mjvGeom> extra_geoms) {
mjrfContext* ctx = model_objects_->GetContext();
const mjModel* model = model_objects_->GetModel();
const int nstack = model->vis.quality.numstacks;
const int nslice = model->vis.quality.numslices;
const int nquad = model->vis.quality.numquads;
const mjvPerturb* perturb, mjvCamera* camera,
const mjrRect& viewport,
DrawTextAtFn draw_text_at_fn,
std::span<const mjvGeom> extra_geoms) {
Clear();
const int nstack = model_->vis.quality.numstacks;
const int nslice = model_->vis.quality.numslices;
const int nquad = model_->vis.quality.numquads;
// For decor rendering, we go through the mjvScene. Ideally, we would only
// update the mjvGeoms in the scene, but the API is not capable of that.
mjv_updateScene(model, data, vis_option, perturb, camera, mjCAT_ALL,
mjv_updateScene(model_, data, vis_option, perturb, camera, mjCAT_ALL,
&mjv_scene_);
const int num_extra_geoms =
std::min<int>(extra_geoms.size(), mjv_scene_.maxgeom - mjv_scene_.ngeom);
@@ -124,21 +129,13 @@ void ModelDecorations::Update(mjData* data, const mjvOption* vis_option,
++mjv_scene_.ngeom;
}
// Remove all decorative elements from previous render and prepare new ones.
for (auto& iter : decorations_) {
mjrf_removeRenderableFromScene(scene_, iter.get());
}
decorations_.clear();
meshes_.clear();
const mat4 clip_from_world =
CalcClipFromWorld(model, data, *camera, viewport);
CalcClipFromWorld(model_, data, *camera, viewport);
for (int i = 0; i < mjv_scene_.ngeom; ++i) {
const mjvGeom& geom = mjv_scene_.geoms[i];
if (draw_text_at_fn && geom.label[0] != 0) {
const float4 clip_pos =
clip_from_world *
float4(geom.pos[0], geom.pos[1], geom.pos[2], 1.0f);
clip_from_world * float4(geom.pos[0], geom.pos[1], geom.pos[2], 1.0f);
if (clip_pos.w != 0.0f) {
const float3 pos = clip_pos.xyz / clip_pos.w;
draw_text_at_fn(geom.label, pos.x, pos.y, pos.z);
@@ -163,28 +160,29 @@ void ModelDecorations::Update(mjData* data, const mjvOption* vis_option,
mjrfMaterial material;
mjrf_defaultMaterial(&material);
material.decor_ux = true;
material.color[0] = model->flex_rgba[4 * geom.objid + 0];
material.color[1] = model->flex_rgba[4 * geom.objid + 1];
material.color[2] = model->flex_rgba[4 * geom.objid + 2];
material.color[3] = model->flex_rgba[4 * geom.objid + 3];
material.color[0] = model_->flex_rgba[4 * geom.objid + 0];
material.color[1] = model_->flex_rgba[4 * geom.objid + 1];
material.color[2] = model_->flex_rgba[4 * geom.objid + 2];
material.color[3] = model_->flex_rgba[4 * geom.objid + 3];
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
const int vertadr = mjv_scene_.flexvertadr[geom.objid];
const int vertnum = mjv_scene_.flexvertnum[geom.objid];
const float radius = model->flex_radius[geom.objid];
const float radius = model_->flex_radius[geom.objid];
if (mjv_scene_.flexvertopt) {
// Use small spheres to represent vertices.
const float rot[] = {1.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 1.f};
const float size[] = {radius, radius, radius};
for (int v = vertadr; v < vertadr + vertnum; ++v) {
auto vertex = CreateRenderable(ctx, params);
auto vertex = CreateRenderable(ctx_, params);
mjrf_setRenderableGeomMesh(vertex.get(), mjGEOM_SPHERE, 8, 8, 1);
mjrf_setRenderableMaterial(vertex.get(), &material);
mjrf_setRenderableSize(vertex.get(), size);
mjrf_setRenderableTransform(vertex.get(), mjv_scene_.flexvert + 3*v, rot);
mjrf_setRenderableTransform(vertex.get(), mjv_scene_.flexvert + 3 * v,
rot);
mjrf_addRenderableToScene(scene_, vertex.get());
decorations_.push_back(std::move(vertex));
}
@@ -196,8 +194,10 @@ void ModelDecorations::Update(mjData* data, const mjvOption* vis_option,
// Use small thin cylinders to represent the edges.
for (int e = edgeadr; e < edgeadr + edgenum; ++e) {
const float* v1 = mjv_scene_.flexvert + 3 * (vertadr + mjv_scene_.flexedge[2*e]);
const float* v2 = mjv_scene_.flexvert + 3 * (vertadr + mjv_scene_.flexedge[2*e+1]);
const float* v1 =
mjv_scene_.flexvert + 3 * (vertadr + mjv_scene_.flexedge[2 * e]);
const float* v2 = mjv_scene_.flexvert +
3 * (vertadr + mjv_scene_.flexedge[2 * e + 1]);
const mjtNum vec[3] = {v2[0] - v1[0], v2[1] - v1[1], v2[2] - v1[2]};
const float pos[3]{
@@ -211,21 +211,17 @@ void ModelDecorations::Update(mjData* data, const mjvOption* vis_option,
mjtNum edgemat[9];
mju_quat2Mat(edgemat, quat);
const float rot[9] = {
static_cast<float>(edgemat[0]),
static_cast<float>(edgemat[1]),
static_cast<float>(edgemat[2]),
static_cast<float>(edgemat[3]),
static_cast<float>(edgemat[4]),
static_cast<float>(edgemat[5]),
static_cast<float>(edgemat[6]),
static_cast<float>(edgemat[7]),
static_cast<float>(edgemat[8]),
static_cast<float>(edgemat[0]), static_cast<float>(edgemat[1]),
static_cast<float>(edgemat[2]), static_cast<float>(edgemat[3]),
static_cast<float>(edgemat[4]), static_cast<float>(edgemat[5]),
static_cast<float>(edgemat[6]), static_cast<float>(edgemat[7]),
static_cast<float>(edgemat[8]),
};
const float len = static_cast<float>(mju_norm3(vec));
const float size[3] = {radius, radius, len * 0.5f};
auto vertex = CreateRenderable(ctx, params);
auto vertex = CreateRenderable(ctx_, params);
mjrf_setRenderableGeomMesh(vertex.get(), mjGEOM_CYLINDER, 1, 8, 1);
mjrf_setRenderableMaterial(vertex.get(), &material);
mjrf_setRenderableSize(vertex.get(), size);
@@ -269,11 +265,11 @@ void ModelDecorations::Update(mjData* data, const mjvOption* vis_option,
data.release = nullptr;
data.user_data = nullptr;
auto mesh = CreateMesh(ctx, config);
auto mesh = CreateMesh(ctx_, config);
mjrf_setMeshData(mesh.get(), &data);
meshes_.push_back(std::move(mesh));
auto renderable = CreateRenderable(ctx, params);
auto renderable = CreateRenderable(ctx_, params);
mjrf_setRenderableMesh(renderable.get(), meshes_.back().get(), 0, 0);
mjrf_setRenderableMaterial(renderable.get(), &material);
mjrf_addRenderableToScene(scene_, renderable.get());
@@ -284,9 +280,10 @@ void ModelDecorations::Update(mjData* data, const mjvOption* vis_option,
mjrfRenderableParams params;
mjrf_defaultRenderableParams(&params);
auto renderable = CreateRenderable(ctx, params);
auto renderable = CreateRenderable(ctx_, params);
mjrf_setRenderableGeomMesh(renderable.get(), geom_type, nstack, nslice, nquad);
mjrf_setRenderableGeomMesh(renderable.get(), geom_type, nstack, nslice,
nquad);
mjrf_setRenderableTransform(renderable.get(), geom.pos, geom.mat);
if (geom_type == mjGEOM_PLANE) {
// Planes only define an xy size, so set the z-dimension to 1.0f.
src/render/filament/support/model_decorations.h
+7 -4
View File
@@ -23,7 +23,6 @@
#include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h>
#include "render/filament/mjrfilament_cpp.h"
#include "render/filament/support/model_objects.h"
namespace mujoco {
@@ -33,8 +32,8 @@ namespace mujoco {
// renderables are then created.
class ModelDecorations {
public:
ModelDecorations(mjrfScene* scene, ModelObjects* model_objects,
int num_geoms = 2000);
ModelDecorations(mjrfContext* ctx, mjrfScene* scene, const mjModel* model,
int num_geoms = 2000);
~ModelDecorations();
// Function for drawing text at a given position in clip space.
@@ -46,12 +45,16 @@ class ModelDecorations {
const mjrRect& viewport, DrawTextAtFn draw_text_at_fn = nullptr,
std::span<const mjvGeom> extra_geoms = {});
// Removes all decorative renderables from the scene.
void Clear();
ModelDecorations(const ModelDecorations&) = delete;
ModelDecorations& operator=(const ModelDecorations&) = delete;
private:
mjrfContext* ctx_;
mjrfScene* scene_;
ModelObjects* model_objects_;
const mjModel* model_;
mjvScene mjv_scene_;
std::vector<UniquePtr<mjrfMesh>> meshes_;
std::vector<UniquePtr<mjrfRenderable>> decorations_;