Sam Haves
a942fd4875
Previously we were computing at material update time a color for the geom based of it's segid. This made segids unrecoverable from the resulting buffer. With this change we allow SceneView creators to specify if they want the segmentation buffer to be purely for visualization with distinct colors. PiperOrigin-RevId: 840016870 Change-Id: I5920f248ace0901023e6545c7d8dd2b23f9aa397
92 lines
3.1 KiB
C++
92 lines
3.1 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_RENDER_CONTEXT_FILAMENT_H_
|
|
#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
|
|
|
|
#include <cstdint>
|
|
|
|
#include <mujoco/mjmodel.h>
|
|
#include <mujoco/mjrender.h>
|
|
#include <mujoco/mjvisualize.h>
|
|
#include <mujoco/mujoco.h>
|
|
|
|
#if defined(__cplusplus)
|
|
extern "C" {
|
|
#endif
|
|
|
|
typedef enum mjtGraphicsApi_ { // backend graphics API to use
|
|
mjGFX_DEFAULT = 0, // default based on platform
|
|
mjGFX_OPENGL, // OpenGL (desktop)
|
|
mjGFX_VULKAN // Vulkan
|
|
} mjtGraphicsApi;
|
|
|
|
struct mjrFilamentConfig {
|
|
// "Loads" an asset, returning its contents in `out` and size in `out_size`.
|
|
// Returns 0 on success and non-zero to indicate an error. The caller must
|
|
// free `out`.
|
|
typedef int (*load_asset_fn)(const char* path, void* user_data,
|
|
unsigned char** out, uint64_t* out_size);
|
|
|
|
// Used to load filament assets (e.g. materials, image-based lights, etc.).
|
|
load_asset_fn load_asset;
|
|
void* load_asset_user_data;
|
|
|
|
// The native window handle into which we can render directly.
|
|
void* native_window;
|
|
|
|
// The backend graphics API to use.
|
|
int graphics_api;
|
|
|
|
// Whether or not to enable GUI rendering.
|
|
bool enable_gui;
|
|
|
|
// Whether to remap segmentation IDs to distinct colors for visual display.
|
|
// This is only really useful for visualization purposes in studio.
|
|
bool use_distinct_segmentation_colors;
|
|
};
|
|
|
|
void mjr_defaultFilamentConfig(mjrFilamentConfig* config);
|
|
|
|
void mjr_makeFilamentContext(const mjModel* m, mjrContext* con,
|
|
const mjrFilamentConfig* config);
|
|
|
|
MJAPI void mjr_defaultContext(mjrContext* con);
|
|
|
|
MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
|
|
|
|
MJAPI void mjr_freeContext(mjrContext* con);
|
|
|
|
MJAPI void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
|
|
|
|
MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
|
|
|
|
MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
|
|
|
|
void mjr_uploadFont(const unsigned char* pixels, int width, int height, int bpp,
|
|
int id, const mjrContext* con);
|
|
|
|
MJAPI void mjr_setBuffer(int framebuffer, mjrContext* con);
|
|
|
|
MJAPI void mjr_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
|
|
const mjrContext* con);
|
|
|
|
double mjr_getFrameRate(const mjrContext* con);
|
|
|
|
#if defined(__cplusplus)
|
|
} // extern "C"
|
|
#endif
|
|
|
|
#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_RENDER_CONTEXT_FILAMENT_H_
|