06d6bda5bb
Factor out mjModel-specific objects from ObjectManager.
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All objects that are specific to the mjModel (meshes, textures, etc.)
are now managed by a ModelObjects class which is owned by the SceneView
and not the FilamentContext.
PiperOrigin-RevId: 892250776
Change-Id: Iddad66fd3ab1a60c4becdcb5d0c935ed9ea8ad90
2026-03-31 04:16:51 -07:00
bcaa0a8e6a
Use mjrf functions from within other mjrf functions.
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PiperOrigin-RevId: 892234323
Change-Id: I70ff01121764b552da84bdcc9b01527ae138dfea
2026-03-31 03:37:26 -07:00
e4f4044659
Move material multipliers to calling function.
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PiperOrigin-RevId: 890457829
Change-Id: Icb4151a792321aadd3958d479ef02f29ae4a2afc
2026-03-27 08:06:57 -07:00
e17e3bfd82
Remove ObjectManager dependency from Light.
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PiperOrigin-RevId: 890454094
Change-Id: Idb609ad6d8ed7df714cad7b0aca997fee73ab96d
2026-03-27 07:57:43 -07:00
b31e15fbb8
Remove ObjectManager dependency from GuiView.
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PiperOrigin-RevId: 890407310
Change-Id: I9548ee698fbd02d967581200ba2f6ec31e0f7a7c
2026-03-27 06:01:56 -07:00
1c2100e27c
Refactor FilamentContext to prepare for upcoming changes.
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Separate out the parts of the FilamentContext initialization that
depends on the mjModel into a separate Init function.
PiperOrigin-RevId: 890373341
Change-Id: I06b524668cd60dad804d437958f4f6606c46200b
2026-03-27 04:26:10 -07:00
d597b23e5e
Remove mjModel dependency from builtins.
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PiperOrigin-RevId: 890372546
Change-Id: I1d6b99998e42c1d80072a04f5e57eaf5b4d49791
2026-03-27 04:24:09 -07:00
f7fb23084d
Remove mjrContext from FilamentContext.
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Setting values in the mjrContext is only useful for the classic
renderer.
PiperOrigin-RevId: 890345656
Change-Id: Ie3d34dc260d13f74b569dcf575e88dde894d652b
2026-03-27 03:13:17 -07:00
0021564035
Remove unused member variable.
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PiperOrigin-RevId: 889775964
Change-Id: I8464d381158875c22437633dfbb548c10dc89462
2026-03-26 05:18:01 -07:00
a25b9376f0
Remove unused variable.
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PiperOrigin-RevId: 889771550
Change-Id: I8b89e6ccf0a896461b9ddadc23f57e003ea7f8da
2026-03-26 05:07:28 -07:00
07fc5bc736
Fix build.
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PiperOrigin-RevId: 889270417
Change-Id: I4052639054f98c1775357797a80b3049e31b18c7
2026-03-25 08:58:04 -07:00
1bfd68cbba
Adds function for creating the filament Platform based on the renderer
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configuration.
PiperOrigin-RevId: 889226229
Change-Id: Ia5bcdc16e9861e39c49422c2d5fccee23e477af6
2026-03-25 07:15:58 -07:00
fd3ce4fe92
Implement reflective surfaces.
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Reflective surfaces (planes) use a custom shader to blend their
texture with a texture that contains the reflected image. The
reflected image is rendered to a texture as a separate render
pass in the SceneView.
Because reflective textures are generated after the preparation
phase, additional functions are needed to reapply the texture
to the drawable.
PiperOrigin-RevId: 889213413
Change-Id: I7bad39d62e3e5ba38cf6ac667fec5b87bfa7b2a2
2026-03-25 06:43:46 -07:00
02b0b40b1c
Add reflective materials.
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A future CL will implement reflective surfaces and make use of these materials.
PiperOrigin-RevId: 889200524
Change-Id: Icbe5c0c390f89789ed0f5d5c6058a2ef31105608
2026-03-25 06:10:59 -07:00
c61d239ac6
Use model name for window title.
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PiperOrigin-RevId: 889193934
Change-Id: Ief9ade9e239c14da1d824d9bc8aa95dc0a71b65f
2026-03-25 05:53:47 -07:00
4df2fc2490
Ensure decoder has an error string.
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We use that error buffer to check for errors.
PiperOrigin-RevId: 889193796
Change-Id: I1f7575321a57301b4ae5002d0c488bbb16a30b26
2026-03-25 05:52:46 -07:00
babcfd6575
Add class to manage resources for a RenderTarget.
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PiperOrigin-RevId: 888016283
Change-Id: I4959e63e95fad4f75a7a04fabf0879f0b9238f9f
2026-03-23 04:17:53 -07:00
6134fe48d9
Enable shadows depending on render settings.
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PiperOrigin-RevId: 886236214
Change-Id: I6999e52ff3d9fc0734082312a77d6c033b69a24b
2026-03-19 09:59:50 -07:00
eae31f0b3c
Use model's num_quads for generating planes.
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PiperOrigin-RevId: 886228541
Change-Id: I693f85edd84e4e1b1db6a932d4479888426bcae4
2026-03-19 09:44:53 -07:00
7c63bcc8f3
Move Render logic into the Scene/Gui View classes.
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This is in preparation for an upcoming change.
PiperOrigin-RevId: 886203890
Change-Id: I91eba35b394898d942f66f75e947c450b924a973
2026-03-19 08:50:41 -07:00
e57d95e68f
Remove vertcollide attribute from flex contact.
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The `vertcollide` attribute in flex and flexcomp contact specifications has been removed since the next mjWarp release will support flex collisions. This attribute was previously used to enable vertex-based collisions by adding sphere geoms at flex vertices. The functionality associated with this attribute has been deprecated and removed from the XML parser, documentation, and internal data structures. Affected example XML files have also been updated.
PiperOrigin-RevId: 885595503
Change-Id: I6a78975f1bc540c09ea8b5306ff3be0962b7ab24
2026-03-18 07:59:57 -07:00
f1715e67bd
Fix studio web so that single file xml model can be loaded in a single-threaded wasm build
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model_holder.cc modified to disable multi-threaded compilation for WASM builds. index.html `animate()` function modified so the animation rendering loop executes asynchronously with async/await calls. These changes are sufficient to make xml files without references work (e.g., humanoid.xml), more work is needed to make the vfs work so multi-file models can load.
PiperOrigin-RevId: 885537402
Change-Id: I3469cae48e7268073be334b99bf907c5ed8c27a7
2026-03-18 05:31:29 -07:00
b0c48ba846
Planes should not receive shadows when rendered from behind.
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Also refactors Renderables a bit to allow for additional use-cases.
PiperOrigin-RevId: 885527587
Change-Id: I4b17e097256de0356151a6d087bc01f11e3071b7
2026-03-18 05:05:21 -07:00
3f77daa27a
Support wireframe rendering.
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PiperOrigin-RevId: 885508978
Change-Id: I97216a120f4fede62924819cfb5cef5693adc7f8
2026-03-18 04:13:24 -07:00
bc1f9513be
Add flag for software rendering.
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This flag is currently unused.
PiperOrigin-RevId: 885453938
Change-Id: Ia2112410ff12c7b18ad154f18887d4d795bafa3d
2026-03-18 01:48:15 -07:00
c420a6e1ca
Fix resizing the window when running single threaded
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This was affecting code running in the browser using WASM
PiperOrigin-RevId: 884921901
Change-Id: I13e634452275927f58a63179cdf140780852be2f
2026-03-17 03:32:35 -07:00
4be4a539c4
Fix "Selected backend not supported in this build" error when running using WASM
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PiperOrigin-RevId: 884908229
Change-Id: I5515d1ffe8e7a4fd1f3c1eeee11a7f24196be780
2026-03-17 02:57:45 -07:00
9a0dd7d32d
Make planes semi-transparent from behind.
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PiperOrigin-RevId: 884896612
Change-Id: I00cc53e539fd1abccb43c7c6b89a7e063cb4848c
2026-03-17 02:27:34 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
28def7d25d
Internal changes.
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PiperOrigin-RevId: 883932254
Change-Id: Ic93097dde6425e7de00001b8d74ecc61adcde321
2026-03-15 03:38:34 -07:00
b18657acde
Remove unused flag.
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PiperOrigin-RevId: 883113888
Change-Id: I098669f8a873694903159649567bc2f68397f955
2026-03-13 05:37:47 -07:00
b62aed86f9
Recreate swap chain when the window size changes.
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PiperOrigin-RevId: 882521107
Change-Id: I0d29d2e323e7830256c24eead439b3f2eb55de40
2026-03-12 04:56:50 -07:00
16d618e7b9
Ensure we have a valid vfs when loading a spec.
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PiperOrigin-RevId: 882503274
Change-Id: Iddbd6f00c0344bb34d68bb72a640c0a8e81076a2
2026-03-12 04:06:05 -07:00
ad57721e2c
Add missing state.
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PiperOrigin-RevId: 882072832
Change-Id: I6ad75af67edc7672350c775c1a560e3db6d16969
2026-03-11 10:06:43 -07:00
db9ab94555
Refactor parts of the toolbar GUI into the GUI library.
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PiperOrigin-RevId: 882024591
Change-Id: I3ac73247973666f4d60e9d8d028d20d3ef709bcc
2026-03-11 08:23:12 -07:00
ed2f34baa0
Fix logic for looking up root model within an archive.
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PiperOrigin-RevId: 881976329
Change-Id: I7771b84ff0aed83d55ee830deb2f92357355eb88
2026-03-11 06:18:14 -07:00
df02fe4bc0
BodyAddChild PopupContext needs to happen immediately upon triggering it.
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PiperOrigin-RevId: 881955422
Change-Id: I03675431d78c93550ff2ad6d562daf1a0e3d0d08
2026-03-11 05:20:39 -07:00
d6aac2041e
Make filament-opengl the default graphics mode for studio.
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PiperOrigin-RevId: 881362074
Change-Id: Iaa42ddf915b8b146775b2cf0263152b94c586c49
2026-03-10 04:59:03 -07:00
45c7376ab4
Set actuator limits correctly.
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PiperOrigin-RevId: 879012913
Change-Id: I3f03d09a98236ae9a4dc069564d14437ff5d0a2b
2026-03-05 05:35:14 -08:00
5506fbf506
Rename member history_ to sim_history_.
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PiperOrigin-RevId: 878906079
Change-Id: I1327f0216bc5042e62c598f2b7f15f6a26c192dc
2026-03-05 01:23:39 -08:00
64597f45d3
Move function that parses the graphics mode from a string into graphics_mode.cc.
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PiperOrigin-RevId: 878482669
Change-Id: I8b713bc740c5711b9c7cc9ea63c21bad42cd2943
2026-03-04 07:30:23 -08:00
c70b05e037
Make Renderer more self-contained.
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The Renderer should configure the context and flip the image when
in classic mode and not rely on the Window to do so.
PiperOrigin-RevId: 878480986
Change-Id: I1af899107647469659662abd85527cdf66f507f4
2026-03-04 07:26:34 -08:00
20efb8ee8d
Add missing files.
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PiperOrigin-RevId: 878445886
Change-Id: Ied34a5517c3aefc0985bef100431081a4cbfb640
2026-03-04 05:51:36 -08:00
13d164063c
Remove separate targets for classic and filament renderer.
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The platform::Renderer now supports both implementations at
runtime.
PiperOrigin-RevId: 878427862
Change-Id: I2997c197c6eddbe177c77b435cc5848fd80f1839
2026-03-04 04:56:15 -08:00
84682a46b0
Refactor spec editing logic into its own class.
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The SpecEditor improves spec editing by keeping
track of what's being edited and how it changes
over time.
PiperOrigin-RevId: 878410011
Change-Id: I7c323eeb30178dad31946095a727a21b3955f19a
2026-03-04 04:01:56 -08:00
73f73d94f7
Merge renderer+offscreen mode into unified graphics mode.
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Allow Studio app to switch between graphics modes dynamically.
PiperOrigin-RevId: 878396966
Change-Id: I666fe3d2452de5404b9be2bd1d017eabec789aef
2026-03-04 03:19:58 -08:00
07d7bc95e3
Expose vsm blur width parameter.
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PiperOrigin-RevId: 875733943
Change-Id: Ic8cb423104d2e62ce295f6a2ab6fd67d548910a6
2026-02-26 08:23:30 -08:00
55d7226b06
Improve error handling of spec editor compilation.
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PiperOrigin-RevId: 875703124
Change-Id: Idf4a90a48d75185ad03e4469cee9098104751d67
2026-02-26 06:59:31 -08:00
137a504625
Add imgui stdlib target.
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PiperOrigin-RevId: 875686702
Change-Id: Ie8ba8349c70da3313a1896b14a30d076f2068368
2026-02-26 06:13:38 -08:00
a9675fbaa6
Add an Editor panel.
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The editor panel allows you to add, remove, and modify spec elements
as well as recompiling and loading the spec.
Also includes utilities for handling vertically split panels.
PiperOrigin-RevId: 875658785
Change-Id: I18b10971d587db5eb1e65a033e1dc042faac7f1d
2026-02-26 04:51:02 -08:00
Haroon Qureshi