Instead, use a set of functions to create/update a Renderable
from an mjvGeom.
This completely isolates mjvScene/mjvGeom from SceneView,
making SceneView a more general purpose class.
PiperOrigin-RevId: 899475268
Change-Id: I48a3a45bc8fff3e1f514847c7a1ca8ab3a1ff16e
*** Original change description ***
Add protocols for authoring simulation environments. This is for preview only, we discourage users from using this in production code.
PiperOrigin-RevId: 899425542
Change-Id: Ifb6c5d3b762789d821bfa9826f5d6d983e8af7d3
This is an early upload of https://github.com/google/filament/pull/9867 and necessary material changes
Original PR commits:
FL0 materials are always compile via spirv-cross
postfx materials now support sRGB emulation in FL0
PiperOrigin-RevId: 899262890
Change-Id: I52c002d60790d84269674c1f0d0c5f7d6a58000c
This default forces users to use the `spec.assets` dictionary or to do other filepath gymnastics when loading URDF. Instead we encourage users to just modify file paths directly if necessary.
PiperOrigin-RevId: 899009853
Change-Id: I4bb84606a95b65be79ccc77ccbe78062d6de8773
Split up the Update function into parts and allow SceneBridge
to call them individually, passing in the ModelObjects or
ObjectManager as needed.
PiperOrigin-RevId: 898851732
Change-Id: I25c6bf920b85caa7b2ddee045475f11fb7a8bac8
This change disallows calling `mjs_delete` on an mjSpec that has been attached to another mjSpec via `mjs_attach`. Attempting to delete an element from an attached spec will now result in an error. The Python bindings for `mjSpec.delete` have been updated to raise a ValueError when this occurs.
PiperOrigin-RevId: 897266695
Change-Id: Ic0670125a3028191ec50eca890f02b5910ec8b03
- Remove `lugre:viscous`, should now be added directly to actuator `damping`. Trying to do this for the user was incompatible with default inheritance (compounding instead of overriding).
- Move voltage limiting from the `saturation` to the `controller` attribute.
- Fix indexing issues in default inheritance.
PiperOrigin-RevId: 897087642
Change-Id: I5388c2633e15c7e223992e7eb5d6a28db75a6438
SceneView owns the filament Scene, View, and Camera objects.
is responsible for rendering the Scene (to which Entities
have been added).
SceneBridge takes the mjvScene as an input and updates the
corresponding light and drawable Entities in the SceneView.
PiperOrigin-RevId: 897007401
Change-Id: I3ec245f5bd48c3654672b11a55fb011f113454cc
Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead.
PiperOrigin-RevId: 896612678
Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
Profiling `leaves.xml` with contacts disabled, this function takes up most of the time (in the implicit integrator). Total `testspeed` run time:
BEFORE: 18.5s
AFTER: 16.5
PiperOrigin-RevId: 896525902
Change-Id: I57f4a984d178956a2902212deb857bf53f53f01b
Consolidate all Vertex and Index buffer creation inside the
Mesh class. Users now set data pointers in the MeshData
from which the Mesh class will create the filament buffers.
PiperOrigin-RevId: 895871213
Change-Id: Ie086fcb5c31adf90e54cba168b03501e21720726
A future change will update all callers to use this
method for creating Meshes after which we will remove
the constructor that takes explicit filament objects.
PiperOrigin-RevId: 895807063
Change-Id: I50833817961ae57fbb9ed6b875c1ef286b9fdd26
Update the Mesh class so that it manages the lifetime of the
vertex and index buffers.
PiperOrigin-RevId: 895794022
Change-Id: I5eda578b8b7ed7f918e792f6181ec724729b5215
TextureConfig describes the properties of the texture (e.g.
width, height, pixel format, etc.). TextureData contains
the binary payload of the texture.
PiperOrigin-RevId: 892854578
Change-Id: I604b926ac38ff1050cac8fdf9ec767b789c0798e
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
Separate out the parts of the FilamentContext initialization that
depends on the mjModel into a separate Init function.
PiperOrigin-RevId: 890373341
Change-Id: I06b524668cd60dad804d437958f4f6606c46200b
Haroon Qureshi