raisin::RaisimObject

class · #include <rayrai/RaisimObject.hpp>

Render state of one raisim::Object, built from physics snapshots.

RaisimObject owns the meshes, colors and world transforms of an object as of the last applied PhysicsObjectSnapshot. It never reads the source raisim::Object, so it stays usable after the object is removed; the snapshot's object pointer is an identity key only.

Nested classes

• struct Changes — What apply() changed, for the renderer's caches.

Constructors & destructor

RaisimObject

RaisimObject(
    const PhysicsObjectSnapshot &snapshot,
    RayraiWindow *parent,
    std::shared_ptr<RayraiGlobalAsset> asset)

Build the render state of a snapshot object.

Builds or fetches the geometry of every visual (articulated systems get both visual and collision meshes). Primitive and file meshes come from asset and are shared with other objects; meshes of hidden capsules and mesh files load once the object is shown. Requires a current GL context.

Parameters

Parameter	Description
snapshot	Object state, copied; it must have a description.
parent	Owning RayraiWindow (for shared textures and settings).
asset	Asset cache to load primitive/mesh geometry.

Public member functions

Snapshot state

sourceObject

raisim::Object *sourceObject() const

Returns The source object, as an identity key only; it may no longer exist.

instanceId

uint64_t instanceId() const

Returns An id no other RaisimObject in the process had, so a drawable built for another object at the same address is told apart.

objectType

raisim::ObjectType objectType() const

bodyType

raisim::BodyType bodyType() const

objectId

raisim::Object::Id objectId() const

renderRevision

uint64_t renderRevision() const

Returns Revision that advances whenever the drawn state changes.

worldPosition

glm::vec3 worldPosition() const

Returns World position of the object origin (the plane height for a ground).

worldRotation

glm::mat3 worldRotation() const

Returns World rotation of the object frame.

---

Material queries

Internal: renderer pass-selection queries over all cached meshes.

hasPbrMeshes

bool hasPbrMeshes() const

Returns True when any cached mesh needs the PBR shader.

hasHighFidelityPbrMeshes

bool hasHighFidelityPbrMeshes() const

Returns True when any PBR mesh requires the high-fidelity PBR path (Material::requiresHighFidelityPbr()).

hasTransmissivePbrMeshes

bool hasTransmissivePbrMeshes() const

Returns True when any PBR mesh needs the transmission pass (Material::hasTransmissivePass()).

hasProximityFadePbrMeshes

bool hasProximityFadePbrMeshes() const

Returns True when any PBR mesh uses proximity fade (Material::hasProximityFadePass()).

usesDefaultDepthAndStencilState

bool usesDefaultDepthAndStencilState() const

Returns True when every mesh uses default depth/stencil state (Material::usesDefaultDepthAndStencilState()).

hasFullPbrMeshes

bool hasFullPbrMeshes() const

Returns True when any PBR mesh cannot use the compact PBR shader (Material::canUseCompactPbr()).

hasFoliageFastPbrMeshes

bool hasFoliageFastPbrMeshes() const

Returns True when any mesh can use the foliage fast-PBR path (Material::canUseFoliageFastPbr()).

hasWeatherEligiblePbrMeshes

bool hasWeatherEligiblePbrMeshes() const

Returns True when any mesh reacts to active weather (Material::receivesActiveWeather()).

hasSimpleMeshes

bool hasSimpleMeshes() const

Returns True when any mesh uses non-PBR (simple/textured) shading.

hasPlanarReflectionMeshes

bool hasPlanarReflectionMeshes() const

Returns True when any PBR mesh enables Material::usePlanarReflection.

hasTransparentMaterials

bool hasTransparentMaterials() const

Returns True when any cached mesh material must be rendered in the transparent pass.

hasSpecialBlendMode

bool hasSpecialBlendMode() const

Returns True when any cached mesh uses a blend mode other than Material::BlendMode::Mix.

renderPriority

int renderPriority() const

Returns Highest Material::renderPriority across cached meshes (0 if none).

apply

Changes apply(const PhysicsObjectSnapshot &snapshot)

Advance to a newer snapshot of the same object.

Uploads changed mesh vertices (a vertex delta when the snapshot provides one) and rebuilds meshes whose shapes changed. An unchanged revision costs a comparison. Requires a current GL context.

Parameters

Parameter	Description
snapshot	Object state with the same object identity, copied when it changed.

Returns What changed.

draw

void draw(
    Shader &shader,
    bool showCollisionBodies,
    OpenGLMesh::RenderMode mode=OpenGLMesh::RenderMode::All)

Draw the object using the provided shader.

Sets the shadingType, model and objectColor uniforms per mesh; the shader must already be in use. No-op when hidden.

Parameters

Parameter	Description
shader	Shader used for rendering.
showCollisionBodies	True to render collision geometry when available (articulated systems only).
mode	Which material passes of each mesh to draw.

isSelectable

bool isSelectable() const

Check if this object can be selected in the picker.

Returns True if not hidden, and not a heightmap or ground plane.

configureGroundMaterial

void configureGroundMaterial(
    bool reflective,
    float roughness,
    float metallic,
    bool proceduralChecker=false)

Configure ground and heightmap terrain materials. No-op for other objects.

For a ground plane, resets its material and makes it PBR with planar reflection when reflective, or simple/textured otherwise. For a heightmap, only the window's terrain overrides are reapplied and the other arguments are ignored.

Parameters

Parameter	Description
reflective	Use a reflective PBR ground.
roughness	PBR roughness, clamped to [0.04, 1] (reflective only).
metallic	PBR metallic factor, clamped to [0, 1] (reflective only).
proceduralChecker	Draw a procedural checker instead of the ground texture.

setHidden

void setHidden(bool h)

Hide or show this object in rendering, independent of its appearance.

The object is drawn only while neither this nor a "hidden" appearance hides it.

Parameters

Parameter	Description
h	True to hide.

hidden

bool hidden() const

Check if object is hidden.

Returns True if hidden by setHidden() or by its appearance.

getColor

glm::vec4 getColor() const

Get object color used for rendering.

Returns RGBA color in [0, 1] parsed from the raisim appearance string (0.7 grey by default). A negative alpha on a mesh object means "use the mesh's own colors".

approximateRadius

float approximateRadius(bool showCollisionBodies) const

Conservative bounding radius for coarse culling.

Parameters

Parameter	Description
showCollisionBodies	Measure collision instead of visual geometry.

Returns Radius from approximateBounds(), or 1 when bounds are unavailable.

shadowGeometryWithinBounds

bool shadowGeometryWithinBounds() const

Returns True when shadow depth draws keep every vertex inside approximateBounds(): no material uses billboards, fixed-size scaling or height displacement.

shadowDepthMayDiscard

bool shadowDepthMayDiscard(
    bool showCollisionBodies,
    bool transparentShadowDithering) const

Returns True when a shadow depth draw of this object can discard fragments: a mesh that draw() draws has an alpha-mask material, or an alpha-blend material while transparentShadowDithering is set. Deformable surfaces always report true.

approximateBounds

bool approximateBounds(
    bool showCollisionBodies,
    glm::vec3 &center,
    float &radius) const

Conservative world-space bounds for coarse culling.

The center is allowed to differ from the raisim object origin for offset meshes, articulated links, and deformables.

Parameters

Parameter	Description
showCollisionBodies	Measure collision instead of visual geometry.
center (out)	Sphere center in world coordinates.
radius (out)	Sphere radius in metres.

Returns False when the object has no geometry.

cullingBounds

void cullingBounds(
    bool showCollisionBodies,
    glm::vec3 &center,
    float &radius) const

Bounds for coarse culling: approximateBounds(), or a unit sphere at the object origin when the object draws no geometry.

Parameters

Parameter	Description
showCollisionBodies	Measure collision instead of visual geometry.
center (out)	Sphere center in world coordinates.
radius (out)	Sphere radius in metres.

getPrimitiveBatchData

bool getPrimitiveBatchData(
    bool showCollisionBodies,
    glm::mat4 &model,
    raisim::Shape::Type &shape,
    glm::vec4 &color) const

Return transform/color data for simple single-body primitive batching.

Parameters

Parameter	Description
showCollisionBodies	Batching is refused when true.
model (out)	World model matrix including the primitive scale.
shape (out)	Primitive shape (sphere, box, cylinder or capsule).
color (out)	Object color.

Returns True when this object can be drawn by the internal primitive batch path (visible, opaque, single sphere/box/cylinder/capsule).

getPrimitiveBatchTemplate

bool getPrimitiveBatchTemplate(
    bool showCollisionBodies,
    raisim::Shape::Type &shape,
    glm::vec3 &scale,
    glm::vec4 &color) const

Pose-independent part of getPrimitiveBatchData().

Parameters

Parameter	Description
showCollisionBodies	Batching is refused when true.
shape (out)	Primitive shape.
scale (out)	Primitive scale.
color (out)	Object color.

Returns True when this object is batchable.

setDefaultPrimitivePbrEnabled

void setDefaultPrimitivePbrEnabled(bool enabled)

Toggle High/Ultra default PBR shading for built-in primitive meshes.

Box/sphere/cylinder meshes come from the shared asset cache, so this changes their material for every object that shares them.

Parameters

Parameter	Description
enabled	True to use the default PBR primitive material.

collectMaterialTextureIds

void collectMaterialTextureIds(std::vector<unsigned int> &textureIds) const

Append non-environment material texture ids used by this object's cached meshes.

Parameters

Parameter	Description
textureIds (in, out)	Ids are appended (duplicates are not removed here).

accumulateGeometryDiagnostics

void accumulateGeometryDiagnostics(
    OpenGLMesh::GeometryDiagnostics &diagnostics,
    float tinyTriangleAreaThreshold) const

Accumulate CPU-side mesh geometry diagnostics for this object.

Parameters

Parameter	Description
diagnostics (in, out)	Totals to add to.
tinyTriangleAreaThreshold	Triangles below this area count as tiny.

collectMeshDiagnostics

void collectMeshDiagnostics(
    std::vector<OpenGLMesh::MeshDiagnostics> &diagnostics,
    float tinyTriangleAreaThreshold) const

Append per-mesh geometry/material diagnostics for this object.

Parameters

Parameter	Description
diagnostics (in, out)	One entry is appended per mesh.
tinyTriangleAreaThreshold	Triangles below this area count as tiny.

debugModelMatrixCacheRebuilds

size_t debugModelMatrixCacheRebuilds() const

Returns Number of model-matrix rebuilds, for tests and diagnostics.

debugMeshLists

const std::vector<std::shared_ptr<std::vector<std::shared_ptr<OpenGLMesh>>>> &debugMeshLists() const

Internal:

Returns The cached mesh lists (tests/diagnostics).

debugHasMeshGeometry

bool debugHasMeshGeometry() const

Internal:

Returns True when any cached mesh list is non-empty (tests/diagnostics).