Haroon Qureshi
c52d3d0789
The filament library provides APIs for creating the low-level objects such as meshes and textures. The compat library provides the high-level compatibility layer between mjvScene and the core library. PiperOrigin-RevId: 904504900 Change-Id: Ida1aecab4b9a8aefbbf6b0a0c4ba7ff164864b8e
128 lines
3.8 KiB
C++
128 lines
3.8 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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#include "experimental/filament/render_context_filament.h"
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#include <cstdint>
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#include <cstring>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrender.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/mjr_filament_renderer.h"
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#if defined(TLS_FILAMENT_CONTEXT)
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static thread_local mujoco::MjrFilamentRenderer* g_filament_context = nullptr;
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#else
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static mujoco::MjrFilamentRenderer* g_filament_context = nullptr;
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#endif
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static void CheckFilamentContext() {
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if (g_filament_context == nullptr) {
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mju_error("Missing context; did you call mjrf_makeFilamentContext?");
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}
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}
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extern "C" {
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void mjrf_defaultFilamentConfig(mjrFilamentConfig* config) {
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memset(config, 0, sizeof(mjrFilamentConfig));
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}
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void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
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const mjrFilamentConfig* config) {
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// TODO: Support multiple contexts and multiple threads. For now, we'll just
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// assume a single, global context.
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if (g_filament_context != nullptr) {
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mju_error("Context already exists!");
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}
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g_filament_context = new mujoco::MjrFilamentRenderer(config);
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g_filament_context->Init(m);
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}
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void mjrf_defaultContext(mjrContext* con) {
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memset(con, 0, sizeof(mjrContext));
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}
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void mjrf_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
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mjrf_freeContext(con);
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mjrFilamentConfig cfg;
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mjrf_defaultFilamentConfig(&cfg);
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cfg.width = m->vis.global.offwidth;
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cfg.height = m->vis.global.offheight;
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mjrf_makeFilamentContext(m, con, &cfg);
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}
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void mjrf_freeContext(mjrContext* con) {
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// mjr_freeContext may be called multiple times.
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if (g_filament_context) {
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delete g_filament_context;
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g_filament_context = nullptr;
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}
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mjrf_defaultContext(con);
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}
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void mjrf_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
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CheckFilamentContext();
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g_filament_context->Render(viewport, scn);
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}
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void mjrf_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
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CheckFilamentContext();
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g_filament_context->UploadMesh(m, meshid);
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}
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void mjrf_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
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CheckFilamentContext();
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g_filament_context->UploadTexture(m, texid);
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}
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void mjrf_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
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CheckFilamentContext();
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g_filament_context->UploadHeightField(m, hfieldid);
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}
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void mjrf_setBuffer(int framebuffer, mjrContext* con) {
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CheckFilamentContext();
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g_filament_context->SetFrameBuffer(framebuffer);
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}
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void mjrf_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
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const mjrContext* con) {
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CheckFilamentContext();
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g_filament_context->ReadPixels(viewport, rgb, depth);
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}
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uintptr_t mjrf_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
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int width, int height, int bpp,
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const mjrContext* con) {
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CheckFilamentContext();
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return g_filament_context->UploadGuiImage(tex_id, pixels, width, height, bpp);
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}
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double mjrf_getFrameRate(const mjrContext* con) {
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CheckFilamentContext();
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return g_filament_context->GetFrameRate();
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}
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void mjrf_updateGui(const mjrContext* con) {
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if (g_filament_context != nullptr) {
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g_filament_context->UpdateGui();
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}
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}
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} // extern "C"
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