Haroon Qureshi
e43ed60d29
Update SetFrameBuffer to allow users to customize which swap chain (window or offscreen) to use for rendering both the main mjvScene as well as the GUI. PiperOrigin-RevId: 861624061 Change-Id: Ife7bfc447afb007016300438fc5f88a8e4cfa0f6
87 lines
3.0 KiB
C++
87 lines
3.0 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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#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_GUI_VIEW_H_
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#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_GUI_VIEW_H_
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#include <cstdint>
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#include <unordered_map>
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#include <vector>
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#include <imgui.h>
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#include <filament/Camera.h>
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#include <filament/Engine.h>
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#include <filament/Material.h>
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#include <filament/MaterialInstance.h>
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#include <filament/Scene.h>
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#include <filament/Texture.h>
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#include <filament/View.h>
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#include <mujoco/mjrender.h>
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#include "experimental/filament/filament/buffer_util.h"
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#include "experimental/filament/filament/object_manager.h"
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namespace mujoco {
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// A filament::View that contains a filament::Scene used for rendering the GUI.
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class GuiView {
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public:
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GuiView(filament::Engine* engine, ObjectManager* object_mgr);
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~GuiView();
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// Prepares the UX scene renderable using data from the current ImGui state.
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// This function must be called once per frame to ensure ImGui state is
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// correctly synced.
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void UpdateRenderable();
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// Returns the filament::View used to render the UX scene.
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filament::View* PrepareRenderView();
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// Uploads texture to be used with ImGui's Image and ImageButton functions.
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uintptr_t UploadImage(uintptr_t tex_id, const uint8_t* pixels, int width,
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int height, int bpp);
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private:
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void CreateTexture(ImTextureData* data);
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void UpdateTexture(ImTextureData* data);
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void DestroyTexture(ImTextureData* data);
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// Returns the filament::MaterialInstance configured to draw into the given
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// scissor rect.
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filament::MaterialInstance* GetMaterialInstance(int index, mjrRect rect,
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uintptr_t texture_id);
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// Clears the filament::Scene of the UX renderable and releases all buffers.
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void ResetRenderable();
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ObjectManager* object_mgr_ = nullptr;
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filament::Engine* engine_ = nullptr;
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filament::Scene* scene_ = nullptr;
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filament::Camera* camera_ = nullptr;
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filament::View* view_ = nullptr;
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filament::Material* material_ = nullptr;
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utils::Entity renderable_;
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std::vector<FilamentBuffers> buffers_;
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std::vector<filament::MaterialInstance*> instances_;
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std::unordered_map<uintptr_t, filament::Texture*> textures_;
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int num_elements_ = 0;
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};
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// Draws text at the given screen coordinates in clip space (i.e. [-1,-1,-1] to
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// [1,1,1]).
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void DrawTextAt(const char* text, float x, float y, float z);
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_GUI_VIEW_H_
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