3b63fbc6ba
Correctly apply visibility state from mjvOption.
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PiperOrigin-RevId: 948792559
Change-Id: Ic0357c7841519e8e5c903b45f045831745f0b2b3
2026-07-16 00:24:04 -07:00
6c78c8664e
Merge pull request #3340 from devshahofficial:devshahofficial/mjr-renderer-info
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PiperOrigin-RevId: 948183711
Change-Id: I28b256eca22e86ec0ba05a4fa26458d678aca130
2026-07-15 01:37:11 -07:00
94132c75c7
Remove dead code.
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PiperOrigin-RevId: 946289927
Change-Id: I4dc493b522f33c281511a8e6ad407e734e50734f
2026-07-11 13:13:32 -07:00
40feb498a1
Clear material instance assignments at start of frame.
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PiperOrigin-RevId: 945623848
Change-Id: I983efa6a14d25e2cb0f46b8bd529086d84247a50
2026-07-10 03:56:52 -07:00
d23ff84c59
Add renderer info query API
2026-07-07 11:44:46 -07:00
4ab8617429
Get mjrfContext from the ModelObjects.
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PiperOrigin-RevId: 943888955
Change-Id: Icfe6230e531a100ad5a09efe582977fd3de8f076
2026-07-07 07:44:47 -07:00
6d02ee4756
Merge GetRenderable and GetSelectedRenderable
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PiperOrigin-RevId: 943844092
Change-Id: Ia3888ea6c289d491ddb2fba0ea4f5799c367ef2c
2026-07-07 07:15:10 -07:00
10d6c01dce
Increase filament buffer sizes.
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PiperOrigin-RevId: 942496954
Change-Id: I9e53bf48b7c56cf76992140fc372d88c6d2a9752
2026-07-04 07:43:45 -07:00
fb259a5edd
Implement RenderableManager.
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Similar to LightManager, the RenderableManager manages
renderables based on an mjModel and its mjData.
PiperOrigin-RevId: 941510745
Change-Id: I97b44cc857f136aa7c90ceb85a42e299fc759b73
2026-07-02 00:03:05 -07:00
79f6deac99
Update bounds when updating the mesh.
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PiperOrigin-RevId: 938628053
Change-Id: Ibd3d952d62614fc1eb049893937e6fb2d661da56
2026-06-26 09:25:06 -07:00
07e292bc6b
Make mjrf types opaque in header.
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PiperOrigin-RevId: 938409081
Change-Id: I8b9680dcb04f56aadf9ffd601b08025fc624c656
2026-06-25 23:41:49 -07:00
3d09a46d61
Use bulbradius as the vsm_blur_width as well.
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PiperOrigin-RevId: 937286692
Change-Id: I03502da45951f90979b8f8d58915c80656a5eac7
2026-06-24 06:00:31 -07:00
3e33f93ddc
Remove unused material instances before rendering frame.
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Also ensure material texture hashes are unique so that the material
cleanup works correctly.
PiperOrigin-RevId: 937206048
Change-Id: Ibed53457ee271f4faae3bcac5fb479b5ce9fc352
2026-06-24 02:46:33 -07:00
29b49991a2
Rename mjrf_getSamplerType to mjrf_getTextureSamplerType.
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PiperOrigin-RevId: 937193469
Change-Id: I56f856e257fa1cf99b643f794139ef85817a0bb9
2026-06-24 02:18:07 -07:00
d93c102190
Move mjrfilament.h to mujoco/include.
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PiperOrigin-RevId: 934931460
Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1
2026-06-19 08:01:05 -07:00
4ec843d70d
Use int instead of mjtGeom for public API.
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PiperOrigin-RevId: 934766146
Change-Id: Iefaf32834ecbe12fe03c932ff593153277fc8f48
2026-06-19 00:13:32 -07:00
e2afec9153
Make decorations lit, Rename unlit_decor material to decor.
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PiperOrigin-RevId: 933693797
Change-Id: I37128b528296d978d4917ec65316d8d99ce017bb
2026-06-17 06:43:37 -07:00
e76afa7160
Reduce the opacity of the Filament selection outline.
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PiperOrigin-RevId: 933665589
Change-Id: Ic55785568c0129c2f145bedc0cde7ec4bdc05dcf
2026-06-17 05:29:04 -07:00
e1711529f2
Add RGBA8 support to RenderTarget::ReadColorPixels.
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PiperOrigin-RevId: 933521511
Change-Id: Ic279fb8f86615cc4cfddef6ac27a502b22bafd79
2026-06-16 23:30:04 -07:00
c0fa33f97f
Rename mjrFilamentConfig to mjrfContextConfig.
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PiperOrigin-RevId: 932996526
Change-Id: Ia81ee074471ab4ff41e0829fa5ba70203599fdb6
2026-06-16 03:36:22 -07:00
ecee1e0c53
Rename nattributes to num_attributes for consistency.
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PiperOrigin-RevId: 932973447
Change-Id: Idbf9a52c89e24f34ae360d1617cb72dfaa92aa4e
2026-06-16 02:40:13 -07:00
c9ba1e452d
Merge pull request #3338 from devshahofficial:devshahofficial/filament-emissive-factors
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PiperOrigin-RevId: 932483570
Change-Id: If8ff968d2650551118a38ea4837063796bd85f66
2026-06-15 08:45:48 -07:00
7472440dbd
Make mjrfilament.h conform to C standards.
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PiperOrigin-RevId: 932424719
Change-Id: I1f8d8d91041ea1c2b77010761404bf0e519bcc29
2026-06-15 06:33:18 -07:00
9e45ce9801
Use num_ prefix consistently in API.
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PiperOrigin-RevId: 932391786
Change-Id: I71c7f300fdb84ce1129ea3da6336df2fcffc5712
2026-06-15 05:08:34 -07:00
7646a56e82
Fix Filament emissive material factors
2026-06-13 15:58:30 -07:00
2c125dd447
Add Update function to LightManager.
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PiperOrigin-RevId: 931152006
Change-Id: I6fe5d4ab0dbc8032fe84fd12968666d755d1d7d5
2026-06-12 07:58:43 -07:00
01d5be61e3
Move ModelObjects and LightManager to filament/support.
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PiperOrigin-RevId: 931136854
Change-Id: I3ce3b7265c5d3c9a49fa84be46e87a76c6e2c8b5
2026-06-12 07:18:07 -07:00
96781fa793
Move filament renderer out of experimental into src/render/filament.
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Also:
- renames the main header file to mjrfilament.h.
- moves filament_util under a "support" folder.
PiperOrigin-RevId: 930448415
Change-Id: Iad89756aaf1ddf4c3e67e1afc3a13776f71fa20f
2026-06-11 04:43:20 -07:00
0399bfd058
Allow custom getProcAddress for glad resolution.
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PiperOrigin-RevId: 908587023
Change-Id: Idc4dcc5ee8d2d67f83486ca2ff4667f2b4b283eb
2026-05-01 00:18:26 -07:00
1465d8b6ce
Initial implementation of MuJoCo Live.
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This is a combination of minor tweaks to the existing Studio WASM application, CMake cleanup to make it buildable, and integration with GitHub Actions for deployment.
The new features added are drag-and-drop, model specification through `?model=` URL parameter, HTTP and HTTPS resource provider, and a user-visible loading message while the model is loading.
PiperOrigin-RevId: 904594610
Change-Id: I3a73b1ca0fcd6fc9ba192469942b2dab010a9308
2026-04-23 12:56:12 -07:00
35c0a25cf4
No-op implementation for mjr_ functions.
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This can be useful, e.g. writing tests that don't depend on rendering.
PiperOrigin-RevId: 879012859
Change-Id: Ifb8d7d5bb06a2456c1b4543f0bf4945fe8155039
2026-03-05 05:34:19 -08:00
aef44210cb
Rename render to render/classic.
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This will allow us to add additional renderers to the `render` folder.
PiperOrigin-RevId: 878913300
Change-Id: I205ae41250cbbcded406ad303d4e801d4cff892e
2026-03-05 01:43:21 -08:00
30b903b6c0
Migrate mjModel size fields from int to mjtSize.
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This change updates all size-related members within the `mjModel` struct from `int` to `mjtSize`. This allows MuJoCo to handle models with a larger number of elements. Corresponding changes were made to macros, function signatures, and I/O routines to accommodate the new `mjtSize` type.
PiperOrigin-RevId: 860144595
Change-Id: I701c6d607715d240766b6210a9773cd9e4258c59
2026-01-23 09:41:49 -08:00
7190bd4912
Add flag for depth rendering.
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PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
2025-12-18 04:36:26 -08:00
85e6f6de3c
Ignore unsupported light types in GL3 renderer.
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PiperOrigin-RevId: 842271116
Change-Id: I632f7ed8e2a6488d5a8eb228928e26c8fcbdff66
2025-12-09 09:22:29 -08:00
735b31fc89
Fix triangle lighting in native renderer.
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PiperOrigin-RevId: 841796563
Change-Id: I778e0e02aa8b4033531d4fadc091610418ab909e
2025-12-08 09:27:04 -08:00
1c6a05de98
Snap Y-axis range to nice decimal bounds in gl2 figures.
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PiperOrigin-RevId: 830355030
Change-Id: I2e9f145fb8c626dd671d286560c8334202586c6b
2025-11-10 03:01:30 -08:00
681f5767b2
Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs
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PiperOrigin-RevId: 808689636
Change-Id: Ia091fb597c171a33842e62690d06f32614fbe4eb
2025-09-18 12:28:09 -07:00
931036adda
Always try to find the skybox texture, even if there are no materials in the MJCF. Fixes #2412
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Before the fix this only occured if the MJCF contained 0 materials.
PiperOrigin-RevId: 795510952
Change-Id: I0a36c275e6006f80dc9a5ba6b9c6040ce21187c9
2025-08-15 09:53:37 -07:00
80befd64ae
Do not cull mjGEOM_TRIANGLE.
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PiperOrigin-RevId: 789723631
Change-Id: I8a5aaa78a9fe63458c07b823c7550846c14413b1
2025-08-01 05:28:30 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
3e9bc79b54
Adds color space to textures.
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PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
2025-05-22 04:33:40 -07:00
1663867cba
Add GL_EXT_texture_sRGB to MuJoCo's GLAD stubs.
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PiperOrigin-RevId: 761025068
Change-Id: I9197f206666adf547aa5fcd0e06b54d7d4c415fa
2025-05-20 04:38:20 -07:00
40393f460a
Fix shadow flickering artefacts on platforms that do not support ARB_clip_control.
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PiperOrigin-RevId: 743112447
Change-Id: Ibb727685605c0a257547162703f61e5232ff544c
2025-04-02 06:34:27 -07:00
ac2a324fbd
Reduce "shadow acne" artifacts
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PiperOrigin-RevId: 725640931
Change-Id: I95df97d6076b99c12e291f69e8e54bbe70538293
2025-02-11 08:28:12 -08:00
893a993bf6
Fix typos.
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PiperOrigin-RevId: 716211176
Change-Id: Ibadfe13db89ed9047832b977e918faa3c5c6d9f1
2025-01-16 06:28:54 -08:00
5c23ae11ef
Fix bug in material texrepeat attribute, fixes #2223 .
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Was mistakenly cast from float to int, bug introduced in 3.2.0
PiperOrigin-RevId: 697993181
Change-Id: I643a07e2b0866a4af56d7cbd3344e764a7caf56f
2024-11-19 06:30:55 -08:00
c168ac3397
Add source code links in docs for remaining API functions.
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PiperOrigin-RevId: 692728907
Change-Id: I145eb47453e6aa017505d53d3e17215959252e3d
2024-11-03 11:09:56 -08:00
2b0629d75f
Replace mjQUICKSORT with faster, native sorting function. fixes #1638
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PiperOrigin-RevId: 688519096
Change-Id: I05ab1576703c2458968ef81915ac682a8beac391
2024-10-22 06:05:12 -07:00
0e8c0b80eb
add content_type to model in the XML schema.
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PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
2024-09-04 07:25:55 -07:00
Haroon Qureshi