Haroon Qureshi
d93c102190
PiperOrigin-RevId: 934931460 Change-Id: I63bf34b3a7197b277ea7a5caf3d84d840f6210a1
52 lines
1.7 KiB
C++
52 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_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_OBJECTS_H_
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#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_OBJECTS_H_
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#include <unordered_map>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjrfilament.h>
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#include <mujoco/mujoco.h>
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#include "render/filament/mjrfilament_cpp.h"
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namespace mujoco {
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// Creates and owns meshes read from an mjvScene.
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class SceneObjects {
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public:
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explicit SceneObjects(mjrfContext* ctx);
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// Creates a skin or flex mesh from the given geom in the mjvScene.
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bool CreateSkinFlexMesh(const mjvScene* scene, const mjModel* model,
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const mjvGeom& geom);
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// Returns the mesh for the given geom id, as created by CreateSkinFlexMesh.
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const mjrfMesh* GetSkinMesh(int geom_id) const;
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const mjrfMesh* GetFlexMesh(int geom_id) const;
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SceneObjects(const SceneObjects&) = delete;
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SceneObjects& operator=(const SceneObjects&) = delete;
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private:
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mjrfContext* ctx_ = nullptr;
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std::unordered_map<int, UniquePtr<mjrfMesh>> skins_;
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std::unordered_map<int, UniquePtr<mjrfMesh>> flexes_;
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};
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_OBJECTS_H_
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