Haroon Qureshi
a8545ac7cc
RenderableManager is responsible for rendering the "skinned" flexes which represent the correct "final" look of a flex. This now includes 1D flexes which are rendered as a sequence of capsules (similar to tendons). SceneDecorator is responsible for rendering the debug (unskinned) versions of flexes. This includes the vertices (small spheres for each vertex), edges (thin cynlinders for each edge), and faces (triangles for each face, including sublayers). PiperOrigin-RevId: 951595046 Change-Id: Iebc6fd7a747a602813b6457333bd9fa5915e28d3
44 lines
1.7 KiB
C++
44 lines
1.7 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_RENDER_FILAMENT_SUPPORT_MESH_UTIL_H_
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#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MESH_UTIL_H_
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#include <vector>
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#include <math/vec4.h>
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#include <mujoco/mujoco.h>
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#include <mujoco/mjrfilament.h>
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#include "render/filament/mjrfilament_cpp.h"
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namespace mujoco {
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// Creates a mjrfMesh for the given flex object.
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UniquePtr<mjrfMesh> CreateFlexMesh(mjrfContext* ctx, const mjModel* model,
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const mjData* data, int flex_id);
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// Creates a mjrfMesh for the given skin object.
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UniquePtr<mjrfMesh> CreateSkinMesh(mjrfContext* ctx, const mjModel* model,
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const mjData* data, int skin_id);
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// Populates the set of points that define the given tendon. Points are
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// added in pairs, representing the start and end of a segment of the tendon.
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// The w-component of the point stores the width/radius of the tendon.
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void GatherSpatialTendonPoints(const mjModel* model, const mjData* data,
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int tendon_id,
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std::vector<filament::math::float4>& points);
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} // namespace mujoco
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#endif // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_MESH_UTIL_H_
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