There are still a few places where the compat library is downcasting
to the internal types due to limitations in the public APIs.
PiperOrigin-RevId: 910646480
Change-Id: I1ccb6714db08a2010d9535f59338e5eba06d1d35
Also provide a header-only C++ library that wraps created objects into
unique_ptrs.
PiperOrigin-RevId: 910607824
Change-Id: I0427f6dedab6aa299b3128031b055bd4d0c8e497
Moves all internal types and structs to the "public"
render_context_filament.h header file.
PiperOrigin-RevId: 906929736
Change-Id: I7e7c315fb99a3601b09841073eaeec795718b999
- Remove hard-coded button sizes (48×32) from toolbar icons; buttons now use default ImGui sizing, matching the existing copy-camera button.
- Remove the Unload button (available via menu).
- Add ImGui_ColorButtonEx widget with per-corner rounding via ImDrawFlags, enabling segmented button-group visuals.
- Use segmented rounding for the pause/viscous/play triplet: rounded-left, square, rounded-right.
- Make pause and play buttons 40% wider than the viscous button for emphasis.
- Replace the theme combo dropdown with a cycling button.
- Reduce toolbar height from 48px to 34px and vertically center content via WindowPadding.
- Zero out table CellPadding in the toolbar for precise vertical centering.
- Remove the speed combo's inflated vertical padding.
PiperOrigin-RevId: 906853958
Change-Id: I6e4ec7243adb9e0f1f06f8779fa896a6865c46c7
* **Dynamic Full-Window Scaling**: Charts in the Performance and Solver panels now expand to fill the entire pane, automatically arranging side-by-side or stacked based on window orientation to eliminate scrollbars.
* **Responsive Decorators**: Added reusable C++ ImPlot helper functions that auto-hide titles, legends, and tick labels when the plot surface is small.
* **Cleaner Visualization**: Refined chart titles (e.g., "CPU msec vs frame", "Convergence vs iter") and removed redundant axis labels for improved scannability.
These changes were based on the plot behavior of //third_party/mujoco/src/experimental/py/sample/implot.py This is an incremental improvement, we can make the plots even nicer in future.
PiperOrigin-RevId: 906351914
Change-Id: I8cb19c19bf807f0107c717066250a71bcf7e325f
- Reorder Physics section, move Actuator Groups to end.
- Rename "Physics Settings" → "Physics", "Rendering Settings" → "Rendering".
- Reduce IndentSpacing from 20 to 6.
- Reduce FramePadding Y from 6 to 2 for narrower buttons and popups.
- Remove explicit Unindent/Indent overrides in Rendering and Visibility Groups
sections so buttons are naturally indented under their tree nodes.
- Dynamically adjust convergence and counts plot X-axis limits based on actual
solver iterations instead of hardcoded 20.
PiperOrigin-RevId: 906244477
Change-Id: Ic3e6e6e793395158c8cb6692af885884ca3f7f50
Texture IDs were assigned using textures_.size() + 1, which is not monotonic: after erasures the map shrinks and previously used IDs can be reassigned to new textures. This causes multiple ImGui images to reference the same underlying Filament texture, rendering them all with the same pixel data. This fix replaces the size-based scheme with a monotonically increasing counter (next_tex_id_) that never reuses IDs.
PiperOrigin-RevId: 906214496
Change-Id: I5a388861ad9565c8e00e27b39cc9c76c9750ca1e
* Remove the explicit io.Fonts->Build() call from InitImGui, which was deprecated in Dear ImGui v1.92.0. With ImGuiBackendFlags_RendererHasTextures already set, the font atlas is now built lazily by ImGui and communicated to backends via the ImTextureStatus_WantCreate protocol.
* Add proper texture shutdown in ~ImguiBridge by iterating ImGui::GetPlatformIO().Textures and destroying all tracked textures, per the //third_party/dear_imgui/docs/BACKENDS.md instructions.
* Remove the "OK but missing" and "WantUpdates but missing" texture recovery hacks from Update(). These handled a state where ImGui thought textures were alive but the Filament-side storage had been torn down. With proper destruction acknowledgement (SetStatus(Destroyed) + SetTexID(Invalid)), ImGui will now transition destroyed textures to WantCreate on the next frame, and the normal creation path handles it cleanly.
PiperOrigin-RevId: 905886622
Change-Id: Ic449eeaf083740a67eae9c637fb53546a6192b28
Always execute the engine in non-threading (wasm) builds.
And stop rendering if any beginFrame call returns false.
PiperOrigin-RevId: 905000139
Change-Id: I0a6f06a07a8fc0ab0251a67be13a9d170d4a905d
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
The filament library provides APIs for creating the low-level
objects such as meshes and textures. The compat library provides
the high-level compatibility layer between mjvScene and the core
library.
PiperOrigin-RevId: 904504900
Change-Id: Ida1aecab4b9a8aefbbf6b0a0c4ba7ff164864b8e
Refactor FilamentContext to allow multiple render requests to
be submitted onto a single RenderTarget. The main scene and the
ux scene are then submitted as two separate requests that share
the same target, resulting in a single, composited render.
PiperOrigin-RevId: 904324801
Change-Id: I7c47ec4f8d159320612fa33384c01e8db3414daa
Also allow multiple Meshes to be assigned at once rather than one at a
time.
This simplifies both the usage and implementation of Renderable.
PiperOrigin-RevId: 902665683
Change-Id: I23ff365a54fd6a3814ed3452b1e094ae9f698a1b
Add clamping to slider values in both ImGui widgets and mjUI to ensure they remain within the defined min/max ranges, preventing potential floating point inaccuracies from causing values to slightly exceed the bounds.
PiperOrigin-RevId: 902660458
Change-Id: Ia153ae7907f07b890f2b5ac2e3a4be93ecae7bd3
Haroon Qureshi