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Remove ObjectManager dependency from Material.

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PiperOrigin-RevId: 897056556
Change-Id: Ic02239d7a411b52333b48a069292b21afb547b19
This commit is contained in:
Haroon Qureshi
2026-04-09 05:33:36 -07:00
committed by Copybara-Service
parent edc807895f
commit f6baacfa86
6 changed files with 99 additions and 66 deletions
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src/experimental/filament/filament/drawable.cc
+38 -21
View File
@@ -86,10 +86,20 @@ static bool IsBehind(const mjtNum* headpos, const float* pos, const float* mat)
}
Drawable::Drawable(ObjectManager* object_mgr, ModelObjects* model_objects,
const mjvGeom& geom)
: material_(object_mgr),
const mjvGeom& geom,
const Material::Textures* fallback_textures)
: material_(object_mgr->GetEngine()),
model_objs_(model_objects),
object_mgr_(object_mgr),
renderables_(object_mgr->GetEngine()) {
material_.SetMaterial(
Material::DrawMode::kDepth,
object_mgr_->GetMaterial(ObjectManager::kUnlitDepth));
material_.SetMaterial(
Material::DrawMode::kSegmentation,
object_mgr_->GetMaterial(ObjectManager::kUnlitSegmentation));
material_.SetFallbackTextures(fallback_textures);
if (geom.category == mjCAT_DECOR) {
renderables_.SetCastShadows(false);
renderables_.SetReceiveShadows(false);
@@ -229,7 +239,9 @@ void Drawable::SetDrawMode(Material::DrawMode mode) {
}
void Drawable::UpdateReflectionTexture(const Texture* tex) {
material_.UpdateReflectionTexture(tex);
Material::Textures textures = material_.GetTextures();
textures.reflection = tex;
material_.UpdateTextures(textures);
}
void Drawable::SetLayerMask(std::uint8_t mask) {
@@ -353,6 +365,11 @@ void Drawable::SetTransform(const mjvGeom& geom) {
}
}
void Drawable::SetNormalMaterial(ObjectManager::MaterialType material_type) {
filament::Material* material = object_mgr_->GetMaterial(material_type);
material_.SetMaterial(Material::DrawMode::kNormal, material);
}
void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color,
bool enable_reflection, const mjtNum* headpos) {
const mjModel* model = model_objs_->GetModel();
@@ -385,21 +402,21 @@ void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color,
}
if (geom.type == mjGEOM_LINE || geom.type == mjGEOM_LINEBOX) {
material_.SetNormalMaterialType(ObjectManager::kUnlitLine);
SetNormalMaterial(ObjectManager::kUnlitLine);
} else {
bool material_assigned = false;
if (geom.matid >= 0) {
material_assigned = true;
if (textures.orm) {
material_.SetNormalMaterialType(ObjectManager::kPbrPacked);
SetNormalMaterial(ObjectManager::kPbrPacked);
} else if (textures.metallic) {
material_.SetNormalMaterialType(ObjectManager::kPbr);
SetNormalMaterial(ObjectManager::kPbr);
} else if (textures.roughness) {
material_.SetNormalMaterialType(ObjectManager::kPbr);
SetNormalMaterial(ObjectManager::kPbr);
} else if (model->mat_metallic[geom.matid] >= 0) {
material_.SetNormalMaterialType(ObjectManager::kPbr);
SetNormalMaterial(ObjectManager::kPbr);
} else if (model->mat_roughness[geom.matid] >= 0) {
material_.SetNormalMaterialType(ObjectManager::kPbr);
SetNormalMaterial(ObjectManager::kPbr);
} else {
material_assigned = false;
}
@@ -418,36 +435,36 @@ void Drawable::UpdateMaterial(const mjvGeom& geom, bool use_segid_color,
if (textures.color == nullptr) {
if (color.a < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhongColorFade);
SetNormalMaterial(ObjectManager::kPhongColorFade);
} else if (reflective_) {
material_.SetNormalMaterialType(ObjectManager::kPhongColorReflect);
SetNormalMaterial(ObjectManager::kPhongColorReflect);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhongColor);
SetNormalMaterial(ObjectManager::kPhongColor);
}
} else if (textures.color->GetFilamentTexture()->getTarget() ==
filament::Texture::Sampler::SAMPLER_CUBEMAP) {
if (color.a < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhongCubeFade);
SetNormalMaterial(ObjectManager::kPhongCubeFade);
} else if (reflective_) {
material_.SetNormalMaterialType(ObjectManager::kPhongCubeReflect);
SetNormalMaterial(ObjectManager::kPhongCubeReflect);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhongCube);
SetNormalMaterial(ObjectManager::kPhongCube);
}
} else if (has_texcoords) {
if (color.a < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUvFade);
SetNormalMaterial(ObjectManager::kPhong2dUvFade);
} else if (reflective_) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUvReflect);
SetNormalMaterial(ObjectManager::kPhong2dUvReflect);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhong2dUv);
SetNormalMaterial(ObjectManager::kPhong2dUv);
}
} else {
if (color.a < 1.0f) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dFade);
SetNormalMaterial(ObjectManager::kPhong2dFade);
} else if (reflective_) {
material_.SetNormalMaterialType(ObjectManager::kPhong2dReflect);
SetNormalMaterial(ObjectManager::kPhong2dReflect);
} else {
material_.SetNormalMaterialType(ObjectManager::kPhong2d);
SetNormalMaterial(ObjectManager::kPhong2d);
}
}
}
src/experimental/filament/filament/drawable.h
+5 -1
View File
@@ -34,7 +34,7 @@ namespace mujoco {
class Drawable {
public:
Drawable(ObjectManager* object_mgr, ModelObjects* model_objects,
const mjvGeom& geom);
const mjvGeom& geom, const Material::Textures* fallback_textures);
~Drawable() noexcept = default;
Drawable(const Drawable&) = delete;
@@ -79,12 +79,16 @@ class Drawable {
// Updates the transform of the drawable for rendering.
void SetTransform(const mjvGeom& geom);
// Sets the material for the drawable.
void SetNormalMaterial(ObjectManager::MaterialType material_type);
// Updates the material parameters of the drawable for rendering.
void UpdateMaterial(const mjvGeom& geom, bool use_segid_color,
bool enable_reflection, const mjtNum* headpos);
Material material_;
ModelObjects* model_objs_ = nullptr;
ObjectManager* object_mgr_ = nullptr;
Renderables renderables_;
bool reflective_ = false;
filament::math::mat4 transform_;
src/experimental/filament/filament/material.cc
+29 -33
View File
@@ -19,45 +19,35 @@
#include <filament/MaterialInstance.h>
#include <filament/RenderableManager.h>
#include <filament/TextureSampler.h>
#include <mujoco/mjmodel.h>
#include "experimental/filament/filament/object_manager.h"
#include "experimental/filament/filament/texture.h"
namespace mujoco {
Material::Material(ObjectManager* object_mgr) : object_mgr_(object_mgr) {
instances_[kDepth] =
object_mgr_->GetMaterial(ObjectManager::kUnlitDepth)->createInstance();
instances_[kSegmentation] =
object_mgr_->GetMaterial(ObjectManager::kUnlitSegmentation)
->createInstance();
Material::Material(filament::Engine* engine)
: engine_(engine) {
}
Material::~Material() noexcept {
filament::Engine* engine = object_mgr_->GetEngine();
for (int i = 0; i < kNumDrawModes; ++i) {
if (instances_[i]) {
engine->destroy(instances_[i]);
engine_->destroy(instances_[i]);
}
}
}
void Material::SetNormalMaterialType(
ObjectManager::MaterialType material_type) {
filament::Material* material = object_mgr_->GetMaterial(material_type);
if (instances_[kNormal]) {
void Material::SetMaterial(DrawMode mode, filament::Material* material) {
if (instances_[mode]) {
const filament::Material* current_material =
instances_[kNormal]->getMaterial();
instances_[mode]->getMaterial();
if (current_material == material) {
return;
}
object_mgr_->GetEngine()->destroy(instances_[kNormal]);
instances_[kNormal] = nullptr;
engine_->destroy(instances_[mode]);
instances_[mode] = nullptr;
}
if (material) {
instances_[kNormal] = material->createInstance();
instances_[mode] = material->createInstance();
UpdateMaterialInstances();
}
}
@@ -72,9 +62,8 @@ void Material::UpdateTextures(const Textures& textures) {
UpdateMaterialInstances();
}
void Material::UpdateReflectionTexture(const Texture* tex) {
textures_.reflection = tex;
UpdateMaterialInstances();
void Material::SetFallbackTextures(const Textures* fallback_textures) {
fallback_textures_ = fallback_textures;
}
void Material::UpdateMaterialInstances() {
@@ -130,25 +119,32 @@ void Material::UpdateMaterialInstances() {
filament::TextureSampler::MinFilter::LINEAR_MIPMAP_LINEAR);
auto TrySetTexture = [&](const char* name, const Texture* texture,
mjtTextureRole role) {
const Texture* fallback) {
if (material->hasParameter(name)) {
if (texture) {
instance->setParameter(name, texture->GetFilamentTexture(), sampler);
} else {
auto* fallback = object_mgr_->GetFallbackTexture(role);
} else if (fallback) {
instance->setParameter(name, fallback->GetFilamentTexture(), sampler);
}
}
};
TrySetTexture("BaseColor", textures_.color, mjTEXROLE_RGB);
TrySetTexture("Normal", textures_.normal, mjTEXROLE_NORMAL);
TrySetTexture("Metallic", textures_.metallic, mjTEXROLE_METALLIC);
TrySetTexture("Roughness", textures_.roughness, mjTEXROLE_ROUGHNESS);
TrySetTexture("Occlusion", textures_.occlusion, mjTEXROLE_OCCLUSION);
TrySetTexture("ORM", textures_.orm, mjTEXROLE_ORM);
TrySetTexture("Emissive", textures_.emissive, mjTEXROLE_EMISSIVE);
TrySetTexture("Reflection", textures_.reflection, mjTEXROLE_USER);
TrySetTexture("BaseColor", textures_.color,
fallback_textures_ ? fallback_textures_->color : nullptr);
TrySetTexture("Normal", textures_.normal,
fallback_textures_ ? fallback_textures_->normal : nullptr);
TrySetTexture("Metallic", textures_.metallic,
fallback_textures_ ? fallback_textures_->metallic : nullptr);
TrySetTexture("Roughness", textures_.roughness,
fallback_textures_ ? fallback_textures_->roughness : nullptr);
TrySetTexture("Occlusion", textures_.occlusion,
fallback_textures_ ? fallback_textures_->occlusion : nullptr);
TrySetTexture("ORM", textures_.orm,
fallback_textures_ ? fallback_textures_->orm : nullptr);
TrySetTexture("Emissive", textures_.emissive,
fallback_textures_ ? fallback_textures_->emissive : nullptr);
TrySetTexture("Reflection", textures_.reflection,
fallback_textures_ ? fallback_textures_->reflection : nullptr);
}
} // namespace mujoco
src/experimental/filament/filament/material.h
+14 -9
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@@ -20,7 +20,6 @@
#include <math/vec2.h>
#include <math/vec3.h>
#include <math/vec4.h>
#include "experimental/filament/filament/object_manager.h"
#include "experimental/filament/filament/texture.h"
namespace mujoco {
@@ -65,24 +64,29 @@ class Material {
bool tex_uniform = false;
};
Material(ObjectManager* object_mgr);
explicit Material(filament::Engine* engine);
~Material() noexcept;
Material(const Material&) = delete;
Material& operator=(const Material&) = delete;
// Assigns a material to the draw mode.
void SetNormalMaterialType(ObjectManager::MaterialType material_type);
void SetMaterial(DrawMode mode, filament::Material* material);
// Updates the material parameters of the drawable for rendering.
// Sets the fallback textures for the material.
void SetFallbackTextures(const Textures* fallback_textures);
// Updates the parameters for the material.
void UpdateParams(const Params& params);
// Updates the material textures of the drawable for rendering.
// Updates the textures for the material.
void UpdateTextures(const Textures& textures);
// Update the reflection texture. We do this separately since the reflection
// texture needs to be rendered before it can be applied to the material.
void UpdateReflectionTexture(const Texture* tex);
// Returns the current material parameters.
const Params& GetParams() const { return params_; }
// Returns the current material textures.
const Textures& GetTextures() const { return textures_; }
// Returns the material instance assigned to the draw mode.
filament::MaterialInstance* GetMaterialInstance(DrawMode mode) {
@@ -94,8 +98,9 @@ class Material {
// textures.
void UpdateMaterialInstances();
ObjectManager* object_mgr_ = nullptr;
filament::Engine* engine_ = nullptr;
filament::MaterialInstance* instances_[kNumDrawModes] = {nullptr};
const Textures* fallback_textures_ = nullptr;
Params params_;
Textures textures_;
};
src/experimental/filament/filament/scene_bridge.cc
+11 -2
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@@ -139,6 +139,15 @@ SceneBridge::SceneBridge(ObjectManager* object_mgr, const mjModel* model,
ReadElement(model, "filament.fallback.environment_light_intensity",
fallback_environment_light_intensity_);
fallback_textures_.color = object_mgr_->GetFallbackTexture(mjTEXROLE_RGB);
fallback_textures_.normal = object_mgr_->GetFallbackTexture(mjTEXROLE_NORMAL);
fallback_textures_.metallic = object_mgr_->GetFallbackTexture(mjTEXROLE_METALLIC);
fallback_textures_.roughness = object_mgr_->GetFallbackTexture(mjTEXROLE_ROUGHNESS);
fallback_textures_.occlusion = object_mgr_->GetFallbackTexture(mjTEXROLE_OCCLUSION);
fallback_textures_.orm = object_mgr_->GetFallbackTexture(mjTEXROLE_ORM);
fallback_textures_.emissive = object_mgr_->GetFallbackTexture(mjTEXROLE_EMISSIVE);
fallback_textures_.reflection = object_mgr_->GetFallbackTexture(mjTEXROLE_USER);
// Create an empty/black indirect light to ensure that the skybox is oriented
// to respect mujoco's Z-up convention.
filament::IndirectLight* empty_ibl =
@@ -313,8 +322,8 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
}
}
auto drawable =
std::make_unique<Drawable>(object_mgr_, model_objects_.get(), *geom);
auto drawable = std::make_unique<Drawable>(
object_mgr_, model_objects_.get(), *geom, &fallback_textures_);
drawable->Update(model_objects_->GetModel(), scene, *geom);
scene_view_->AddToScene(drawable.get());
drawables_.push_back(std::move(drawable));
src/experimental/filament/filament/scene_bridge.h
+2
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@@ -26,6 +26,7 @@
#include <mujoco/mujoco.h>
#include "experimental/filament/filament/drawable.h"
#include "experimental/filament/filament/light.h"
#include "experimental/filament/filament/material.h"
#include "experimental/filament/filament/model_objects.h"
#include "experimental/filament/filament/object_manager.h"
#include "experimental/filament/filament/scene_view.h"
@@ -78,6 +79,7 @@ class SceneBridge {
float fallback_head_light_intensity_ = 0.f;
float fallback_scene_light_intensity_ = 80'000.f;
float fallback_environment_light_intensity_ = 5'000.f;
Material::Textures fallback_textures_;
};
} // namespace mujoco