Improve wireframe rendering support in Filament renderer and Studio.

- Draw complete wireframes in the Filament renderer.
- Bind the 'W' key to toggle the wireframe render flag in Studio.

PiperOrigin-RevId: 957230911
Change-Id: Ib583c81ddcfa834686c7cf01d2b12842479993ea

src/experimental/studio/app.cc

@@ -811,6 +811,8 @@ void App::HandleKeyboardEvents() {
     ToggleFlag(vis_options_.flags[mjVIS_COM]);
   } else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_D)) {
     ToggleFlag(vis_options_.flags[mjVIS_STATIC]);
+  } else if (!is_freecam_wasd && ImGui_IsChordJustPressed(ImGuiKey_W)) {
+    ToggleFlag(renderer_->GetRenderFlags()[mjRND_WIREFRAME]);
   } else if (ImGui_IsChordJustPressed(ImGuiKey_Semicolon)) {
     ToggleFlag(vis_options_.flags[mjVIS_SKIN]);
   } else if (ImGui_IsChordJustPressed(ImGuiKey_GraveAccent)) {
@@ -2152,6 +2154,7 @@ void App::HelpGui() {
   ImGui::Text("Tendon");
   ImGui::Text("Texture");
   ImGui::Text("Transparent");
+  ImGui::Text("Wireframe");
 
   ImGui::NextColumn();
   ImGui::Indent(indent);
@@ -2181,6 +2184,7 @@ void App::HelpGui() {
   ImGui::Text("V");
   ImGui::Text("X");
   ImGui::Text("T");
+  ImGui::Text("W");
 
   ImGui::Columns();
 }

src/render/filament/core/mesh.cc

@@ -146,6 +146,9 @@ Mesh::~Mesh() {
   if (index_buffer_) {
     engine_->destroy(index_buffer_);
   }
+  if (wireframe_index_buffer_) {
+    engine_->destroy(wireframe_index_buffer_);
+  }
   if (vertex_buffer_) {
     engine_->destroy(vertex_buffer_);
   }
@@ -308,6 +311,55 @@ void Mesh::UpdateIndexBuffer(const mjrfMeshData& data) {
   // callback for the vertex buffer will call release_callbacks_.
   filament::backend::BufferDescriptor desc(indices, num_bytes);
   index_buffer_->setBuffer(*engine_, std::move(desc));
+
+  UpdateWireframeIndexBuffer(indices);
+}
+
+template <typename T>
+static void FillWireframeIndices(const void* src, int num_indices, T* out) {
+  const T* in = static_cast<const T*>(src);
+  for (int i = 0; i < num_indices - 2; i += 3) {
+    *out++ = in[i + 0];
+    *out++ = in[i + 1];
+    *out++ = in[i + 1];
+    *out++ = in[i + 2];
+    *out++ = in[i + 2];
+    *out++ = in[i + 0];
+  }
+}
+
+void Mesh::UpdateWireframeIndexBuffer(const void* src_indices) {
+  // Line meshes are their own wireframe. Interior edges shared between two
+  // triangles are deliberately not deduplicated so that triangle index ranges
+  // map to line index ranges by doubling; see GetWireframeIndexBuffer().
+  if (config_.primitive_type != mjMESH_PRIMITIVE_TYPE_TRIANGLES) {
+    return;
+  }
+  const int num_line_indices = 2 * config_.max_indices;
+  if (wireframe_index_buffer_ == nullptr) {
+    filament::IndexBuffer::Builder ib_builder;
+    ib_builder.indexCount(num_line_indices);
+    ib_builder.bufferType(config_.index_type == mjINDEX_TYPE_U16
+                              ? filament::IndexBuffer::IndexType::USHORT
+                              : filament::IndexBuffer::IndexType::UINT);
+    wireframe_index_buffer_ = ib_builder.build(*engine_);
+  }
+
+  const int element_size = config_.index_type == mjINDEX_TYPE_U16
+                               ? sizeof(uint16_t)
+                               : sizeof(uint32_t);
+  const int num_bytes = num_line_indices * element_size;
+  std::byte* lines = new std::byte[num_bytes];
+  shared_state_->callbacks.push_back([=]() { delete[] lines; });
+  if (config_.index_type == mjINDEX_TYPE_U16) {
+    FillWireframeIndices(src_indices, config_.max_indices,
+                         reinterpret_cast<uint16_t*>(lines));
+  } else {
+    FillWireframeIndices(src_indices, config_.max_indices,
+                         reinterpret_cast<uint32_t*>(lines));
+  }
+  filament::backend::BufferDescriptor desc(lines, num_bytes);
+  wireframe_index_buffer_->setBuffer(*engine_, std::move(desc));
 }
 
 void Mesh::UpdateBounds(const mjrfMeshData& data) {
@@ -361,6 +413,10 @@ filament::IndexBuffer* Mesh::GetFilamentIndexBuffer() const {
   return index_buffer_;
 }
 
+filament::IndexBuffer* Mesh::GetWireframeIndexBuffer() const {
+  return wireframe_index_buffer_;
+}
+
 filament::VertexBuffer* Mesh::GetFilamentVertexBuffer() const {
   return vertex_buffer_;
 }

src/render/filament/core/mesh.h

@@ -49,6 +49,12 @@ class Mesh : public mjrfMesh {
   // Returns the filament IndexBuffer for the mesh.
   filament::IndexBuffer* GetFilamentIndexBuffer() const;
 
+  // Returns the filament IndexBuffer of line indices for wireframe rendering,
+  // or nullptr for non-triangle meshes. Each triangle contributes its three
+  // edges, so a triangle index range [offset, count) maps to the line index
+  // range [2*offset, 2*count).
+  filament::IndexBuffer* GetWireframeIndexBuffer() const;
+
   // Returns the filament VertexBuffer for the mesh.
   filament::VertexBuffer* GetFilamentVertexBuffer() const;
 
@@ -75,6 +81,7 @@ class Mesh : public mjrfMesh {
 
   void UpdateVertexBuffer(const mjrfMeshData& data);
   void UpdateIndexBuffer(const mjrfMeshData& data);
+  void UpdateWireframeIndexBuffer(const void* indices);
   void UpdateBounds(const mjrfMeshData& data);
 
   filament::math::float4* BuildOrientationsFromNormals(int num_vertices,
@@ -86,6 +93,7 @@ class Mesh : public mjrfMesh {
   mjrfMeshConfig config_;
 
   filament::IndexBuffer* index_buffer_ = nullptr;
+  filament::IndexBuffer* wireframe_index_buffer_ = nullptr;
   filament::VertexBuffer* vertex_buffer_ = nullptr;
   std::optional<filament::Box> bounds_;
 

src/render/filament/core/renderable.cc

@@ -461,11 +461,22 @@ void Renderable::SetWireframe(bool wireframe) {
     for (Part& part : parts_) {
       filament::VertexBuffer* vertex_buffer =
           part.mesh->GetFilamentVertexBuffer();
-      filament::IndexBuffer* index_buffer = part.mesh->GetFilamentIndexBuffer();
+      filament::IndexBuffer* wireframe_index_buffer =
-      rm.setGeometryAt(
+          part.mesh->GetWireframeIndexBuffer();
-          rm.getInstance(part.entity), 0,
+      if (wireframe && wireframe_index_buffer) {
-          wireframe ? kWireframeType : part.mesh->GetPrimitiveType(),
+        // Triangle meshes have a dedicated line index buffer enumerating the
-          vertex_buffer, index_buffer, part.elem_offset, part.elem_count);
+        // three edges of each triangle, addressed by doubling the range.
+        rm.setGeometryAt(rm.getInstance(part.entity), 0, kWireframeType,
+                         vertex_buffer, wireframe_index_buffer,
+                         2 * part.elem_offset, 2 * part.elem_count);
+      } else {
+        // Line meshes are drawn as-is in both modes.
+        rm.setGeometryAt(rm.getInstance(part.entity), 0,
+                         wireframe ? kWireframeType
+                                   : part.mesh->GetPrimitiveType(),
+                         vertex_buffer, part.mesh->GetFilamentIndexBuffer(),
+                         part.elem_offset, part.elem_count);
+      }
     }
   }
 }