Haroon Qureshi
24ce1eff10
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
90 lines
2.9 KiB
C++
90 lines
2.9 KiB
C++
// Copyright 2026 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MODEL_OBJECTS_H_
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#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MODEL_OBJECTS_H_
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#include <unordered_map>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "experimental/filament/render_context_filament.h"
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#include "experimental/filament/render_context_filament_cpp.h"
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namespace mujoco {
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// Creates and owns various filament objects based on the mjModel.
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class ModelObjects {
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public:
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ModelObjects(const mjModel* model, mjrfContext* ctx);
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~ModelObjects();
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enum ShapeType {
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kLine,
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kLineBox,
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kPlane,
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kTriangle,
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kBox,
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kSphere,
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kCone,
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kDisk,
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kDome,
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kTube,
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kNumShapes,
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};
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void UploadMesh(const mjModel* model, int id);
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void UploadTexture(const mjModel* model, int id);
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void UploadHeightField(const mjModel* model, int id);
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void CreateSkinFlexMesh(const mjvScene* scene, const mjvGeom& geom);
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// Returns the cached instance of a filament object created from the mjModel.
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const mjrMesh* GetShapeBuffer(ShapeType shape) const;
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const mjrMesh* GetMeshBuffer(int data_id) const;
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const mjrMesh* GetHeightFieldBuffer(int hfield_id) const;
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const mjrMesh* GetFlexSkinGeomMesh(int geom_id) const;
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const mjrTexture* GetTexture(int tex_id) const;
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const mjrTexture* GetTexture(int mat_id, int role) const;
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const mjrTexture* GetSkyboxTexture() const;
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float GetSpecularMultiplier() const { return specular_multiplier_; }
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float GetShininessMultiplier() const { return shininess_multiplier_; }
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float GetEmissiveMultiplier() const { return emissive_multiplier_; }
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const mjModel* GetModel() const { return model_; }
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ModelObjects(const ModelObjects&) = delete;
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ModelObjects& operator=(const ModelObjects&) = delete;
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private:
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const mjModel* model_ = nullptr;
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mjrfContext* ctx_ = nullptr;
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std::unordered_map<ShapeType, UniquePtr<mjrMesh>> shapes_;
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std::unordered_map<int, UniquePtr<mjrMesh>> meshes_;
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std::unordered_map<int, UniquePtr<mjrMesh>> convex_hulls_;
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std::unordered_map<int, UniquePtr<mjrMesh>> height_fields_;
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std::unordered_map<int, UniquePtr<mjrMesh>> dynamic_meshes_;
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std::unordered_map<int, UniquePtr<mjrTexture>> textures_;
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float specular_multiplier_ = 0.2f;
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float shininess_multiplier_ = 0.1f;
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float emissive_multiplier_ = 0.3f;
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};
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MODEL_OBJECTS_H_
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