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
113 lines
4.2 KiB
C++
113 lines
4.2 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_RENDERABLE_MANAGER_H_
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#define MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_RENDERABLE_MANAGER_H_
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#include <array>
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#include <unordered_map>
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#include <vector>
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#include <math/vec4.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjrfilament.h>
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#include <mujoco/mjvisualize.h>
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#include <mujoco/mujoco.h>
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#include "render/filament/mjrfilament_cpp.h"
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#include "render/filament/support/model_objects.h"
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namespace mujoco {
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// Manages Renderable entities for an mjrfScene.
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class RenderableManager {
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public:
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// Populates the mjrScene with the renderables from the model.
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RenderableManager(mjrfScene* scene, ModelObjects* model_objects);
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~RenderableManager();
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// Updates the state of the renderables in the scene.
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void Update(const mjData* data);
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// Returns the renderable corresponding to the given model object.
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// For most objects, the sub_index is ignored. For slider-crank actuators,
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// sub_index=0 returns the slider, sub_index=1 returns the crank. For tendons,
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// sub_index is the tendon segment index. The number of segments can vary
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// between frames so is undefined. If obj_type == mjOBJ_BODY, returns the
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// geom or site associated with the body.
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mjrfRenderable* GetRenderable(mjtObj obj_type, int obj_index,
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int sub_index = -1);
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// Returns the default material (as defined in the mjModel) for the given
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// object. Useful if you want to "reset" the material of a renderable back
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// to its default.
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mjrfMaterial GetDefaultMaterial(mjtObj obj_type, int obj_index);
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// Marks the given object as "selected", unmarking any previously selected
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// object.
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void MarkAsSelected(mjtObj obj_type, int obj_index);
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// Sets the visualization options on the renderables. The following options
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// are supported:
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// - shows/hides renderables based on the group visibility
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// - shows/hides renderables based on mjVIS_SKIN, mjVIS_FLEXSKIN,
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// mjVIS_TENDON, and mjVIS_ACTUATOR flags
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// - adds island state to materials if mjVIS_ISLAND is enabled
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// - switches meshes to convex hull mode if mjVIS_CONVEXHULL is enabled
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// - adjusts alpha values if mjVIS_TRANSPARENT is enabled
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void SetOptions(const mjvOption& opt);
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// Returns the current visualization options.
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const mjvOption& GetOptions() const { return vopts_; }
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RenderableManager(const RenderableManager&) = delete;
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RenderableManager& operator=(const RenderableManager&) = delete;
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private:
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void AddGeomGeoms();
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void AddSiteGeoms();
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void AddFlexGeoms();
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void AddSkinGeoms();
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void AddSliderCrankGeoms();
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void UpdateSpatialTendons(const mjData* data, int tendon_id);
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void AppendSegmentToTendon(int tendon_id);
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void RemoveSegmentFromTendon(int tendon_id);
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void UpdateSliderCranks(const mjData* data, int actuator_id);
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int GetSegmentationId(mjtObj obj_type, int obj_index);
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void SetVisibility(mjtObj obj_type, int idx, bool visible);
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mjrfScene* scene_;
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ModelObjects* model_objects_;
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mjvOption vopts_;
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mjtObj selected_obj_type_ = mjOBJ_UNKNOWN;
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int selected_obj_index_ = -1;
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std::vector<UniquePtr<mjrfRenderable>> geoms_;
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std::vector<UniquePtr<mjrfRenderable>> sites_;
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std::vector<UniquePtr<mjrfRenderable>> skins_;
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std::vector<std::vector<UniquePtr<mjrfRenderable>>> flexes_;
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std::vector<std::vector<UniquePtr<mjrfRenderable>>> tendons_;
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std::unordered_map<int, std::array<UniquePtr<mjrfRenderable>, 2>> slider_cranks_;
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std::vector<UniquePtr<mjrfMesh>> flex_meshes_;
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std::vector<UniquePtr<mjrfMesh>> skin_meshes_;
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std::vector<filament::math::float4> point_cache_;
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};
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} // namespace mujoco
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#endif // MUJOCO_SRC_RENDER_FILAMENT_SUPPORT_RENDERABLE_MANAGER_H_
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