Initial implementation of the filament rendering backend for mujoco.

This is intended as a drop-in replacement for mjr_render to enable high
quality, physically-based rendering (PBR) using the filament render engine.

This is a work-in-progress and, as such, some features may be missing. This
is also a code-only drop; build files (including instructions on how to
generate the filament materials) will be provided at a later date.

This library is intended to be run with the experimental studio app.

PiperOrigin-RevId: 817593684
Change-Id: Ib9cd14c1881e4897c1111275bd749aa38ebb5317

src/experimental/toolbox/imgui_widgets.cc

@@ -18,7 +18,7 @@
 #include <string>
 #include <unordered_map>
 
-#include "third_party/dear_imgui/imgui.h"
+#include <dear_imgui/imgui.h>
 #include <mujoco/mujoco.h>
 
 namespace mujoco::toolbox {

src/experimental/toolbox/imgui_widgets.h

@@ -21,8 +21,8 @@
 #include <type_traits>
 #include <unordered_map>
 
-#include "third_party/dear_imgui/imgui.h"
-#include "third_party/dear_imgui/imgui_internal.h"  // For ButtonEx and PressedOnClick
+#include <dear_imgui/imgui.h>
+#include <dear_imgui/imgui_internal.h>  // For ButtonEx and PressedOnClick
 #include <mujoco/mujoco.h>
 
 namespace mujoco::toolbox {

src/experimental/toolbox/interaction.cc

@@ -15,7 +15,7 @@
 #include "experimental/toolbox/interaction.h"
 #include <algorithm>
 
-#include "third_party/dear_imgui/imgui.h"
+#include <dear_imgui/imgui.h>
 #include "experimental/toolbox/imgui_widgets.h"
 #include "experimental/toolbox/physics.h"
 #include "experimental/toolbox/renderer.h"

src/experimental/toolbox/window.cc

@@ -17,16 +17,16 @@
 #include <string>
 #include <string_view>
 
-#include "third_party/SDL2/include/SDL.h"
-#include "third_party/SDL2/include/SDL_error.h"
-#include "third_party/SDL2/include/SDL_events.h"
-#include "third_party/SDL2/include/SDL_hints.h"
-#include "third_party/SDL2/include/SDL_syswm.h"
-#include "third_party/SDL2/include/SDL_version.h"
-#include "third_party/SDL2/include/SDL_video.h"
-#include "third_party/dear_imgui/backends/imgui_impl_sdl2.h"
-#include "third_party/dear_imgui/imgui.h"
-#include "third_party/implot/implot.h"
+#include <SDL2/SDL.h>
+#include <SDL2/SDL_error.h>
+#include <SDL2/SDL_events.h>
+#include <SDL2/SDL_hints.h>
+#include <SDL2/SDL_syswm.h>
+#include <SDL2/SDL_version.h>
+#include <SDL2/SDL_video.h>
+#include <dear_imgui/backends/imgui_impl_sdl2.h>
+#include <dear_imgui/imgui.h>
+#include <implot/implot.h>
 #include "experimental/toolbox/helpers.h"
 #include <mujoco/mujoco.h>
 

src/experimental/toolbox/window.h

@@ -19,7 +19,7 @@
 #include <string_view>
 
 #include "experimental/toolbox/helpers.h"
-#include "third_party/SDL2/include/SDL_video.h"
+#include <SDL2/SDL_video.h>
 
 namespace mujoco::toolbox {