RenderableManager is responsible for rendering the "skinned" flexes
which represent the correct "final" look of a flex. This now includes
1D flexes which are rendered as a sequence of capsules (similar to
tendons).
SceneDecorator is responsible for rendering the debug (unskinned)
versions of flexes. This includes the vertices (small spheres for each
vertex), edges (thin cynlinders for each edge), and faces (triangles
for each face, including sublayers).
PiperOrigin-RevId: 951595046
Change-Id: Iebc6fd7a747a602813b6457333bd9fa5915e28d3
Similar to LightManager, the RenderableManager manages
renderables based on an mjModel and its mjData.
PiperOrigin-RevId: 941510745
Change-Id: I97b44cc857f136aa7c90ceb85a42e299fc759b73
Also ensure material texture hashes are unique so that the material
cleanup works correctly.
PiperOrigin-RevId: 937206048
Change-Id: Ibed53457ee271f4faae3bcac5fb479b5ce9fc352
KTX textures crash the classic OpenGL renderer and the Python viewer with
"Number of channels not supported: 1": mjCTexture::LoadKTX stores the file as
an opaque single-channel blob for the Filament renderer, and mjr_uploadTexture
aborts via mju_error because the classic path only handles 3- or 4-channel
textures.
Skip textures the classic renderer can't upload (nchannel not 3 or 4) with a
warning instead of aborting, so the model still loads and the other textures
render. LoadKTX and the Filament path are unchanged. The guard also covers the
cube/skybox path, which previously over-read a single-channel blob as RGB.
Add a render_test.py regression test that builds a model with a KTX texture and
constructs an MjrContext; it aborts before this change and passes after.
Addresses #3343.
Also:
- renames the main header file to mjrfilament.h.
- moves filament_util under a "support" folder.
PiperOrigin-RevId: 930448415
Change-Id: Iad89756aaf1ddf4c3e67e1afc3a13776f71fa20f
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
This can be useful, e.g. writing tests that don't depend on rendering.
PiperOrigin-RevId: 879012859
Change-Id: Ifb8d7d5bb06a2456c1b4543f0bf4945fe8155039
This will allow us to add additional renderers to the `render` folder.
PiperOrigin-RevId: 878913300
Change-Id: I205ae41250cbbcded406ad303d4e801d4cff892e
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
Haroon Qureshi