Implement RenderableManager.

Similar to LightManager, the RenderableManager manages renderables based on an mjModel and its mjData. PiperOrigin-RevId: 941510745 Change-Id: I97b44cc857f136aa7c90ceb85a42e299fc759b73
2026-07-02 00:02:24 -07:00
parent c6c3ec3149
commit fb259a5edd
7 changed files with 1750 additions and 3 deletions
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+// Copyright 2026 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_COMPAT_RENDERABLE_MANAGER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_RENDERABLE_MANAGER_H_
+
+#include <optional>
+#include <vector>
+#include <math/vec4.h>
+#include <mujoco/mjdata.h>
+#include <mujoco/mjrfilament.h>
+#include <mujoco/mjvisualize.h>
+#include <mujoco/mujoco.h>
+#include "render/filament/mjrfilament_cpp.h"
+#include "render/filament/support/model_objects.h"
+
+namespace mujoco {
+
+// Manages Renderable entities for an mjrfScene.
+class RenderableManager {
+ public:
+  // Populates the mjrScene with the renderables from the model.
+  RenderableManager(mjrfContext* ctx, mjrfScene* scene,
+                    ModelObjects* model_objects);
+  ~RenderableManager();
+
+  // Updates the state of the renderables in the scene.
+  void Update(const mjData* data);
+
+  // Returns the renderable corresponding to the given model object.
+  mjrfRenderable* GetRenderable(mjtObj obj_type, int obj_index);
+
+  // Returns the default material (as defined in the mjModel) for the given
+  // object. Useful if you want to "reset" the material of a renderable back
+  // to its default.
+  mjrfMaterial GetDefaultMaterial(mjtObj obj_type, int obj_index);
+
+  // Marks the given object as "selected", unmarking any previously selected
+  // object.
+  void SelectObject(mjtObj obj_type, int obj_index);
+
+  // Sets the visibility of all renderables of the given type. If `group` is
+  // specified, only applies to renderables in that group.
+  void SetVisibility(mjtObj obj_type, bool visible,
+                     std::optional<int> group = std::nullopt);
+
+  // Applies the visualization options to the renderables in the scene.
+  void Apply(const mjvOption& vopts);
+
+ private:
+  void AddGeomGeoms();
+  void AddSiteGeoms();
+  void AddFlexGeoms();
+  void AddSkinGeoms();
+  void AddSliderCrankGeoms();
+
+  void UpdateSpatialTendons(const mjData* data, int tendon_id);
+  void AppendSegmentToTendon(int tendon_id);
+  void RemoveSegmentFromTendon(int tendon_id);
+  void UpdateSliderCranks(const mjData* data, int actuator_id, int index);
+
+  int GetSegmentationId(mjtObj obj_type, int obj_index);
+
+  mjrfRenderable* GetSelectedRenderable();
+
+  mjrfContext* ctx_;
+  mjrfScene* scene_;
+  ModelObjects* model_objects_;
+
+  mjvOption vopts_;
+
+  std::vector<UniquePtr<mjrfRenderable>> geoms_;
+  std::vector<UniquePtr<mjrfRenderable>> sites_;
+  std::vector<UniquePtr<mjrfRenderable>> flexes_;
+  std::vector<UniquePtr<mjrfRenderable>> skins_;
+  std::vector<UniquePtr<mjrfRenderable>> sliders_;
+  std::vector<UniquePtr<mjrfRenderable>> cranks_;
+  std::vector<std::vector<UniquePtr<mjrfRenderable>>> tendons_;
+
+  std::vector<UniquePtr<mjrfMesh>> flex_meshes_;
+  std::vector<UniquePtr<mjrfMesh>> skin_meshes_;
+  std::vector<filament::math::float4> point_cache_;
+
+  mjtObj selected_obj_type_ = mjOBJ_UNKNOWN;
+  int selected_obj_index_ = -1;
+};
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_RENDERABLE_MANAGER_H_