Haroon Qureshi
766f519576
Reflections, shadows, and post-processing can be specified per render request rather than per scene. PiperOrigin-RevId: 915910030 Change-Id: I8ce773b42870aa76a2d8219347ca1cafaec1a97b
87 lines
3.0 KiB
C++
87 lines
3.0 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_SCENE_BRIDGE_H_
|
|
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
|
|
|
|
#include <functional>
|
|
#include <memory>
|
|
#include <optional>
|
|
#include <string_view>
|
|
#include <vector>
|
|
|
|
#include <math/mat4.h>
|
|
#include <math/vec3.h>
|
|
#include <mujoco/mjvisualize.h>
|
|
#include <mujoco/mujoco.h>
|
|
#include "experimental/filament/compat/model_objects.h"
|
|
#include "experimental/filament/render_context_filament.h"
|
|
#include "experimental/filament/render_context_filament_cpp.h"
|
|
|
|
namespace mujoco {
|
|
|
|
// Manages all mjModel data and updates a SceneView using an mjvScene.
|
|
class SceneBridge {
|
|
public:
|
|
SceneBridge(mjrfContext* ctx, const mjModel* model);
|
|
~SceneBridge();
|
|
|
|
// Updates the Entities in the filament Scene to match the current mjvScene
|
|
// state.
|
|
void Update(const mjrRect& viewport, const mjvScene* scene);
|
|
|
|
// Creates the filament objects from the mjModel.
|
|
void UploadMesh(const mjModel* model, int id);
|
|
void UploadTexture(const mjModel* model, int id);
|
|
void UploadHeightField(const mjModel* model, int id);
|
|
|
|
using DrawTextAtFn = std::function<void(const char*, float, float, float)>;
|
|
void SetDrawTextFunction(DrawTextAtFn fn);
|
|
|
|
// Returns the managed scene.
|
|
mjrScene* GetScene() const;
|
|
mjrCamera GetCamera() const;
|
|
|
|
SceneBridge(const SceneBridge&) = delete;
|
|
SceneBridge& operator=(const SceneBridge&) = delete;
|
|
|
|
private:
|
|
void PrepareLights();
|
|
|
|
// Converts a point in world space to clip space, eg. in the range [-1,-1, 0]
|
|
// to [1, 1, 1]. Returns std::nullopt if the point is behind the camera.
|
|
std::optional<filament::math::float3> ClipFromWorld(
|
|
const filament::math::float3& pos) const;
|
|
|
|
mjrfContext* ctx_ = nullptr;
|
|
std::unique_ptr<ModelObjects> model_objects_;
|
|
mjrCamera camera_;
|
|
DrawTextAtFn draw_text_callback_;
|
|
UniquePtr<mjrScene> scene_{nullptr, nullptr};
|
|
UniquePtr<mjrLight> fallback_ibl_{nullptr, nullptr};
|
|
UniquePtr<mjrTexture> fallback_ibl_texture_{nullptr, nullptr};
|
|
std::vector<UniquePtr<mjrLight>> lights_;
|
|
std::vector<UniquePtr<mjrRenderable>> renderables_;
|
|
filament::math::mat4 clip_from_world_;
|
|
int default_shadow_map_size_ = 2048;
|
|
float default_vsm_blur_width_ = 0.0f;
|
|
float fallback_head_light_intensity_ = 0.f;
|
|
float fallback_scene_light_intensity_ = 80'000.f;
|
|
float fallback_environment_light_intensity_ = 5'000.f;
|
|
};
|
|
|
|
} // namespace mujoco
|
|
|
|
#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
|