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Add texture coordinates to primitive shape types.
PiperOrigin-RevId: 964882123 Change-Id: I17723d21f29b3fe28e171de5c3d2bea1f55a94c2
1 parent 4929f2c commit cc7fb98

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Lines changed: 556 additions & 372 deletions

‎doc/changelog.rst‎

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@@ -85,6 +85,21 @@ Rendering
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.. admonition:: Breaking API changes
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:class: attention
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.. image:: https://www.gstatic.com/mujoco/doc/images/changelog/primitives_textured.gif
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:align: right
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:width: 40%
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- Added explicit texture coordinates to built-in geometries (Plane, Box, Sphere, Ellipsoid, Capsule,
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Cylinder) in both the Classic renderer and Filament. 2D textures applied to primitive shapes will look different
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as textures are mapped using canonical UV parameterizations rather than projecting onto the :math:`x,y` plane.
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For finite planes, textures are now anchored to the bottom-left corner instead of the center. This will cause the
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most common visual breakage, as common procedural checker textures will be phase shifted. Infinite planes continue
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to be anchored at the origin with no visual changes.
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.. image:: images/changelog/plane_uv_tiling.png
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:align: center
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:width: 70%
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- Added :ref:`light/softness<body-light-softness>`: edge softness for spotlights under physically-based lighting
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models, given as the fraction of the cone over which intensity falls to zero. The default of 0.2 is a semi-soft
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cone which delivers the full :ref:`intensity<body-light-intensity>` everywhere inside it, so that illuminance

‎doc/images/changelog/plane_uv_tiling.png‎

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‎src/experimental/filament/compat/scene_geom_util.cc‎

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@@ -28,19 +28,6 @@
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namespace mujoco {
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// Returns the tile size for infinite plane texture alignment.
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// This is duplicated from engine_vis_visualize.c (re-center infinite plane)
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// to ensure UV scaling matches the re-centering increments.
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static float GetPlaneTileSize(const mjModel* model, int matid,
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float texrepeat) {
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if (matid >= 0 && texrepeat > 0) {
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return 2.0f / texrepeat;
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} else {
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const float zfar = model->vis.map.zfar * model->stat.extent;
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return 2.1f * zfar / (mjMAXPLANEGRID - 2);
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}
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}
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static void PrepareGeomMeshes(mjrfRenderable* renderable, const mjvGeom& geom,
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ModelObjects* model_objs,
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SceneObjects* scene_objs) {
@@ -230,37 +217,31 @@ static void UpdateGeomMaterial(mjrfRenderable* renderable, const mjvGeom& geom,
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}
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}
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if (tex_uniform) {
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if (geom.size[0] > 0) {
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material.uv_scale[0] *= geom.size[0];
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}
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if (geom.size[1] > 0) {
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material.uv_scale[1] *= geom.size[1];
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}
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}
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const bool is_infinite_plane =
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geom.type == mjGEOM_PLANE && (geom.size[0] <= 0 || geom.size[1] <= 0);
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if (is_infinite_plane) {
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// Infinite planes are scaled to match the tile size used by
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// re-centering in engine_vis_visualize.c.
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const float plane_scale = static_cast<float>(mjMAXPLANEGRID) / 2.0f;
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const float tile_size_x =
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GetPlaneTileSize(model, geom.matid, tex_repeat[0]);
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const float tile_size_y =
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GetPlaneTileSize(model, geom.matid, tex_repeat[1]);
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material.uv_scale[0] = 2.0f * plane_scale / tile_size_x;
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material.uv_scale[1] = 2.0f * plane_scale / tile_size_y;
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}
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// We want to do the equivalent of:
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// mjr_setf4(splane, 0.5 * scl.x, 0, 0, -0.5);
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// mjr_setf4(tplane, 0, -0.5 * scl.y, 0, -0.5);
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// glTexGenfv(GL_S, GL_OBJECT_PLANE, splane);
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// glTexGenfv(GL_T, GL_OBJECT_PLANE, tplane);
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material.uv_scale[0] = 0.5f * material.uv_scale[0];
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material.uv_scale[1] = -0.5f * material.uv_scale[1];
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material.uv_offset[0] = -0.5f;
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material.uv_offset[1] = -0.5f;
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const float dot_pos_axis_x = geom.pos[0] * geom.mat[0] +
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geom.pos[1] * geom.mat[3] +
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geom.pos[2] * geom.mat[6];
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const float dot_pos_axis_y = geom.pos[0] * geom.mat[1] +
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geom.pos[1] * geom.mat[4] +
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geom.pos[2] * geom.mat[7];
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material.uv_scale[0] *= plane_scale;
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material.uv_scale[1] *= plane_scale;
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// The vertex UVs in PlaneBuilder are u0 = 0.5*x + 0.5, v0 = -0.5*y + 0.5.
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// To keep the world-space texture coordinate u = 0.5*worldX*texrepeat - 0.5
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// independent of the snapped geomPos, uv_offset must compensate by 0.5*dot_pos.
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material.uv_offset[0] =
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(0.5f * dot_pos_axis_x - 0.5f * plane_scale) * tex_repeat[0] - 0.5f;
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material.uv_offset[1] =
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(-0.5f * dot_pos_axis_y - 0.5f * plane_scale) * tex_repeat[1] - 0.5f;
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} else if (tex_uniform) {
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material.uv_scale[0] *= (geom.size[0] ? geom.size[0] : 1.0f);
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material.uv_scale[1] *= (geom.size[1] ? geom.size[1] : 1.0f);
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}
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} else {
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// For cube maps, if `tex_uniform` is true, then scale the texture so that
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// it covers a 1x1 area of world space rather than the area of the object.

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