Haroon Qureshi
7e790879ef
PiperOrigin-RevId: 928582582 Change-Id: Idc312607b2f063d8ace8d5cc79bfbc8ac588d13f
78 lines
2.7 KiB
C++
78 lines
2.7 KiB
C++
// Copyright 2025 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_SCENE_BRIDGE_H_
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#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
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#include <functional>
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#include <memory>
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#include <optional>
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#include <vector>
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#include <math/mat4.h>
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#include <math/vec3.h>
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#include <mujoco/mjvisualize.h>
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#include <mujoco/mujoco.h>
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#include "experimental/filament/compat/light_manager.h"
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#include "experimental/filament/compat/model_objects.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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// Manages all mjModel data and updates a SceneView using an mjvScene.
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class SceneBridge {
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public:
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SceneBridge(mjrfContext* ctx, const mjModel* model);
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~SceneBridge();
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// Updates the Entities in the filament Scene to match the current mjvScene
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// state.
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void Update(const mjrRect& viewport, const mjvScene* scene);
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// Creates the filament objects from the mjModel.
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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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using DrawTextAtFn = std::function<void(const char*, float, float, float)>;
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void SetDrawTextFunction(DrawTextAtFn fn);
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// Returns the managed scene.
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mjrfScene* GetScene() const;
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mjrCamera GetCamera() const;
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SceneBridge(const SceneBridge&) = delete;
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SceneBridge& operator=(const SceneBridge&) = delete;
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private:
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// Converts a point in world space to clip space, eg. in the range [-1,-1, 0]
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// to [1, 1, 1]. Returns std::nullopt if the point is behind the camera.
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std::optional<filament::math::float3> ClipFromWorld(
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const filament::math::float3& pos) const;
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mjrfContext* ctx_ = nullptr;
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std::unique_ptr<ModelObjects> model_objects_;
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std::unique_ptr<LightManager> light_manager_;
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mjrCamera camera_;
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DrawTextAtFn draw_text_callback_;
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UniquePtr<mjrfScene> scene_{nullptr, nullptr};
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std::vector<UniquePtr<mjrfRenderable>> renderables_;
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filament::math::mat4 clip_from_world_;
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};
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
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