Haroon Qureshi
a692283db3
Rename mjrf_render to mjrf_renderScene to avoid naming collision. This function is will be removed in a future CL. PiperOrigin-RevId: 910764245 Change-Id: If4d05e806a9699570ca4bbc882f28bfdd05dbd8d
122 lines
4.4 KiB
C++
122 lines
4.4 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.
|
|
|
|
#include <mujoco/mujoco.h>
|
|
#include "experimental/filament/render_context_filament.h"
|
|
|
|
// This library implements the entirety of mujoco's mjr API. You can link this
|
|
// library with your application (instead of the "classic" mujoco renderer) to
|
|
// use the same APIs but with Filament rendering instead.
|
|
//
|
|
// However, you should consider using filament's mjrf API directly as it will
|
|
// provide you with access to more features and optimizations.
|
|
|
|
extern "C" {
|
|
|
|
// mjr functions that are supported by the filament renderer.
|
|
|
|
void mjr_defaultContext(mjrContext* con) {
|
|
mjrf_defaultContext(con);
|
|
}
|
|
void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
|
|
mjrf_makeContext(m, con, fontscale);
|
|
}
|
|
void mjr_freeContext(mjrContext* con) {
|
|
mjrf_freeContext(con);
|
|
}
|
|
void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
|
|
mjrf_renderScene(viewport, scn, con);
|
|
}
|
|
void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
|
|
mjrf_uploadMesh(m, con, meshid);
|
|
}
|
|
void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
|
|
mjrf_uploadTexture(m, con, texid);
|
|
}
|
|
void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
|
|
mjrf_uploadHField(m, con, hfieldid);
|
|
}
|
|
void mjr_setBuffer(int framebuffer, mjrContext* con) {
|
|
mjrf_setBuffer(framebuffer, con);
|
|
}
|
|
void mjr_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
|
|
const mjrContext* con) {
|
|
mjrf_readPixels(rgb, depth, viewport, con);
|
|
}
|
|
|
|
// mjr functions that are NOT supported by the filament renderer.
|
|
|
|
void mjr_setAux(int index, const mjrContext* con) {
|
|
mju_error("mjr_setAux not implemented.");
|
|
}
|
|
void mjr_restoreBuffer(const mjrContext* con) {
|
|
mju_error("mjr_restoreBuffer not implemented.");
|
|
}
|
|
void mjr_rectangle(mjrRect viewport, float r, float g, float b, float a) {
|
|
mju_error("mjr_rectangle not implemented.");
|
|
}
|
|
void mjr_blitAux(int index, mjrRect src, int left, int bottom,
|
|
const mjrContext* con) {
|
|
mju_error("mjr_blitAux not implemented.");
|
|
}
|
|
void mjr_changeFont(int fontscale, mjrContext* con) {
|
|
mju_error("mjr_changeFont not implemented.");
|
|
}
|
|
void mjr_addAux(int index, int width, int height, int samples,
|
|
mjrContext* con) {
|
|
mju_error("mjr_addAux not implemented.");
|
|
}
|
|
void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
|
|
mju_error("mjr_resizeOffscreen not implemented.");
|
|
}
|
|
void mjr_drawPixels(const unsigned char* rgb, const float* depth,
|
|
mjrRect viewport, const mjrContext* con) {
|
|
mju_error("mjr_drawPixels not implemented.");
|
|
}
|
|
void mjr_blitBuffer(mjrRect src, mjrRect dst, int flg_color, int flg_depth,
|
|
const mjrContext* con) {
|
|
mju_error("mjr_blitBuffer not implemented.");
|
|
}
|
|
void mjr_text(int font, const char* txt, const mjrContext* con, float x,
|
|
float y, float r, float g, float b) {
|
|
mju_error("mjr_text not implemented.");
|
|
}
|
|
void mjr_overlay(int font, int gridpos, mjrRect viewport, const char* overlay,
|
|
const char* overlay2, const mjrContext* con) {
|
|
mju_error("mjr_overlay not implemented.");
|
|
}
|
|
void mjr_label(mjrRect viewport, int font, const char* txt, float r, float g,
|
|
float b, float a, float rt, float gt, float bt,
|
|
const mjrContext* con) {
|
|
mju_error("mjr_label not implemented.");
|
|
}
|
|
void mjr_figure(mjrRect viewport, mjvFigure* fig, const mjrContext* con) {
|
|
mju_error("mjr_figure not implemented.");
|
|
}
|
|
void mjr_finish() { mju_error("mjr_finish not implemented."); }
|
|
int mjr_getError() {
|
|
mju_error("mjr_getError not implemented.");
|
|
return 0;
|
|
}
|
|
mjrRect mjr_maxViewport(const mjrContext* con) {
|
|
mju_error("mjr_maxViewport not implemented.");
|
|
return mjrRect{};
|
|
}
|
|
int mjr_findRect(int x, int y, int nrect, const mjrRect* rect) {
|
|
mju_error("mjr_findRect not implemented.");
|
|
return 0;
|
|
}
|
|
|
|
} // extern "C"
|