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Rename types to conform to mjr naming conventions.

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PiperOrigin-RevId: 904457841
Change-Id: I023ffe87eee0a190006dea72ced8748725490098
This commit is contained in:
Haroon Qureshi
2026-04-23 07:55:42 -07:00
committed by Copybara-Service
parent 3d13d43c9c
commit ead7b1f65e
3 changed files with 72 additions and 42 deletions
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src/experimental/filament/filament/light.cc
+24 -5
View File
@@ -25,6 +25,7 @@
#include <utils/Entity.h>
#include <utils/EntityManager.h>
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/math_util.h"
#include "experimental/filament/filament/texture.h"
namespace mujoco {
@@ -32,7 +33,22 @@ namespace mujoco {
using filament::math::float3;
using filament::math::mat3f;
Light::Light(filament::Engine* engine, const Params& params)
void mjr_defaultLightParams(mjrLightParams* params) {
params->type = mjLIGHT_POINT;
params->texture = nullptr;
params->color[0] = 0;
params->color[1] = 0;
params->color[2] = 0;
params->intensity = 0.0f;
params->cast_shadows = true;
params->range = 10.0f;
params->spot_cone_angle = 180.f;
params->bulb_radius = 0.0f;
params->shadow_map_size = 2048;
params->vsm_blur_width = 0.0f;
}
Light::Light(filament::Engine* engine, const mjrLightParams& params)
: engine_(engine), params_(params) {
// Filament treats image-based lights (IBLs) as separate objects (i.e.
// filament::IndirectLight) and so we need to handle IBLs specially.
@@ -71,9 +87,9 @@ Light::Light(filament::Engine* engine, const Params& params)
}
filament::LightManager::Builder builder(type);
builder.color(params.color);
builder.color(ReadFloat3(params.color));
builder.intensityCandela(params.intensity);
builder.castShadows(params.castshadow);
builder.castShadows(params.cast_shadows);
if (type == filament::LightManager::Type::FOCUSED_SPOT) {
builder.spotLightCone(0,
params.spot_cone_angle * std::numbers::pi / 180.0f);
@@ -85,7 +101,7 @@ Light::Light(filament::Engine* engine, const Params& params)
opts.mapSize = 4096;
opts.shadowCascades =
type == filament::LightManager::Type::DIRECTIONAL ? 4 : 1;
opts.shadowBulbRadius = params.bulbradius;
opts.shadowBulbRadius = params.bulb_radius;
opts.mapSize = params.shadow_map_size;
if (params.vsm_blur_width > 0.0f) {
opts.vsm.elvsm = true;
@@ -141,7 +157,10 @@ void Light::SetTransform(filament::math::float3 position,
void Light::SetColor(const filament::math::float3& color) {
if (!ibl_) {
params_.color = color;
params_.color[0] = color.r;
params_.color[1] = color.g;
params_.color[2] = color.b;
filament::LightManager& lm = engine_->getLightManager();
const filament::LightManager::Instance li = lm.getInstance(entity_);
lm.setColor(li, color);
src/experimental/filament/filament/light.h
+30 -26
View File
@@ -24,34 +24,38 @@
namespace mujoco {
typedef mjtLightType mjrLightType;
// Configuration parameters for a light.
struct mjrLightParams {
// The type of light (e.g. spot, point, directional, etc.)
mjrLightType type;
// The texture to use for image lights.
const Texture* texture;
// The color of the light.
float color[3];
// The intensity of the light, in candela.
float intensity;
// Whether or not the light casts shadows.
mjtByte cast_shadows;
// The range/distance in which the light is effective, in meters.
float range;
// The angle of the spot light cone, in degrees.
float spot_cone_angle;
// The radius of the bulb used for soft shadows.
float bulb_radius;
// The size of the shadow map.
int shadow_map_size;
// Blur width for EL VSM.
float vsm_blur_width;
};
void mjr_defaultLightParams(mjrLightParams* params);
// Manages the filament Entities for a single mjvLight.
class Light {
public:
// Configuration parameters for a light.
struct Params {
// The type of light (e.g. spot, point, directional, etc.)
mjtLightType type;
// The texture to use for image lights.
const Texture* texture = nullptr;
// The color of the light.
filament::math::float3 color = {0, 0, 0};
// The intensity of the light, in candela.
float intensity = 0.0f;
// Whether or not the light casts shadows.
bool castshadow = true;
// The range/distance in which the light is effective, in meters.
float range = 10.0f;
// The angle of the spot light cone, in degrees.
float spot_cone_angle = 180.f;
// The radius of the bulb used for soft shadows.
float bulbradius = 0.0f;
// The size of the shadow map.
int shadow_map_size = 2048;
// Blur width for EL VSM.
float vsm_blur_width = 0.0f;
};
Light(filament::Engine* engine, const Params& params);
Light(filament::Engine* engine, const mjrLightParams& params);
~Light() noexcept;
Light(const Light&) = delete;
@@ -85,7 +89,7 @@ class Light {
filament::IndirectLight* ibl_ = nullptr;
utils::Entity entity_;
bool enabled_ = true;
Params params_;
mjrLightParams params_;
};
} // namespace mujoco
src/experimental/filament/filament/scene_bridge.cc
+18 -11
View File
@@ -207,7 +207,8 @@ void SceneBridge::SetEnvironmentLight(std::string_view filename,
fallback_ibl_texture_ =
CreateFallbackIndirectLightTexture(object_mgr_, filename);
Light::Params params;
mjrLightParams params;
mjr_defaultLightParams(&params);
params.type = mjLIGHT_IMAGE;
params.texture = fallback_ibl_texture_.get();
params.intensity = intensity;
@@ -233,7 +234,8 @@ void SceneBridge::PrepareLights() {
total_light_intensity += model->light_intensity[i];
if (model->light_type[i] == mjLIGHT_IMAGE) {
Light::Params params;
mjrLightParams params;
mjr_defaultLightParams(&params);
params.type = mjLIGHT_IMAGE;
params.texture = model_objects_->GetTexture(model->light_texid[i]);
params.intensity = model->light_intensity[i];
@@ -242,11 +244,14 @@ void SceneBridge::PrepareLights() {
lights_.emplace_back(std::move(light_obj));
has_image_based_light = true;
} else {
Light::Params params;
params.color = ReadFloat3(model->light_diffuse);
mjrLightParams params;
mjr_defaultLightParams(&params);
params.color[0] = model->light_diffuse[0];
params.color[1] = model->light_diffuse[1];
params.color[2] = model->light_diffuse[2];
params.type = (mjtLightType)model->light_type[i];
params.castshadow = model->light_castshadow[i];
params.bulbradius = model->light_bulbradius[i];
params.cast_shadows = model->light_castshadow[i];
params.bulb_radius = model->light_bulbradius[i];
params.range = model->light_range[i];
params.intensity = model->light_intensity[i];
params.shadow_map_size = default_shadow_map_size_;
@@ -267,15 +272,15 @@ void SceneBridge::PrepareLights() {
// Add a placeholder (black) headlight as our last light. Going forward, we'll
// assume lights_.back() is always the headlight.
{
Light::Params params;
params.color = float3(0, 0, 0);
mjrLightParams params;
mjr_defaultLightParams(&params);
// We break with the spec here slightly and use a spot light for the head
// light instead of a directional params. This is because filament only
// supports a single directional light, and we'd rather allow a scene
// light to be that directional params. It's also a bit odd for a
// directional light to move with the camera.
params.type = mjLIGHT_SPOT;
params.castshadow = 0;
params.cast_shadows = 0;
params.intensity = 0.0f;
params.spot_cone_angle = 90.0f;
auto light_obj = std::make_unique<Light>(engine, params);
@@ -290,7 +295,8 @@ void SceneBridge::PrepareLights() {
// Create a black indirect light to ensure that the skybox is
// oriented to respect mujoco's Z-up convention.
filament::Engine* engine = object_mgr_->GetEngine();
Light::Params params;
mjrLightParams params;
mjr_defaultLightParams(&params);
params.type = mjLIGHT_IMAGE;
params.intensity = 10.0f;
fallback_ibl_ = std::make_unique<Light>(engine, params);
@@ -304,7 +310,8 @@ void SceneBridge::PrepareLights() {
// Create a fallback environment light.
fallback_ibl_texture_ = CreateFallbackIndirectLightTexture(object_mgr_);
Light::Params params;
mjrLightParams params;
mjr_defaultLightParams(&params);
params.type = mjLIGHT_IMAGE;
params.texture = fallback_ibl_texture_.get();
params.intensity = fallback_environment_light_intensity_;