Haroon Qureshi
c52d3d0789
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
87 lines
3.1 KiB
C++
87 lines
3.1 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MJR_FILAMENT_RENDERER_H_
|
|
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MJR_FILAMENT_RENDERER_H_
|
|
|
|
#include <cstdint>
|
|
#include <memory>
|
|
|
|
#include <mujoco/mjmodel.h>
|
|
#include <mujoco/mjrender.h>
|
|
#include <mujoco/mjvisualize.h>
|
|
#include "experimental/filament/compat/imgui_bridge.h"
|
|
#include "experimental/filament/compat/scene_bridge.h"
|
|
#include "experimental/filament/filament/filament_context.h"
|
|
#include "experimental/filament/render_context_filament.h"
|
|
|
|
namespace mujoco {
|
|
|
|
// Subclass of the FilamentContext that implements the legacy mjr API.
|
|
class MjrFilamentRenderer : public FilamentContext {
|
|
public:
|
|
explicit MjrFilamentRenderer(const mjrFilamentConfig* config);
|
|
~MjrFilamentRenderer() = default;
|
|
|
|
// Initializes the renderer with the given model.
|
|
void Init(const mjModel* model);
|
|
|
|
// Renders the given mjvScene to the viewport.
|
|
void Render(const mjrRect& viewport, const mjvScene* scene);
|
|
|
|
// Configures the renderer to render to the window (0) or an offscreen
|
|
// texture (1 or 2). Rendering to the window always includes UX data from
|
|
// ImGui. A value of 1 indicates the UX should not be included in the
|
|
// offscreen render, whereas 2 indicates that it should.
|
|
void SetFrameBuffer(int framebuffer);
|
|
|
|
// Renders the scene to a texture if the framebuffer is not 0.
|
|
void ReadPixels(mjrRect viewport, unsigned char* rgb, float* depth);
|
|
|
|
// Uploads the mesh data from the model to the GPU.
|
|
void UploadMesh(const mjModel* model, int id);
|
|
|
|
// Uploads the texture data from the model to the GPU.
|
|
void UploadTexture(const mjModel* model, int id);
|
|
|
|
// Uploads the height field data from the model to the GPU.
|
|
void UploadHeightField(const mjModel* model, int id);
|
|
|
|
// Uploads a texture that can be used with ImGui to the GPU.
|
|
uintptr_t UploadGuiImage(uintptr_t tex_id, const uint8_t* pixels, int width,
|
|
int height, int bpp);
|
|
|
|
// Renders an ImGui window containing Filament-specific editor UI.
|
|
void UpdateGui();
|
|
|
|
MjrFilamentRenderer(const MjrFilamentRenderer&) = delete;
|
|
MjrFilamentRenderer& operator=(const MjrFilamentRenderer&) = delete;
|
|
|
|
private:
|
|
enum class FrameBufferMode {
|
|
Window,
|
|
OffScreen,
|
|
OffScreenWithGui,
|
|
};
|
|
|
|
FrameBufferMode mode_ = FrameBufferMode::Window;
|
|
RenderRequest render_requests_[2];
|
|
std::unique_ptr<SceneBridge> scene_bridge_;
|
|
std::unique_ptr<ImguiBridge> imgui_bridge_;
|
|
};
|
|
|
|
} // namespace mujoco
|
|
|
|
#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_MJR_FILAMENT_RENDERER_H_
|