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Add mjmTexture to C API.

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PiperOrigin-RevId: 606543622
Change-Id: I2db743c1c40116f0503329fb1d004d9b041e83e7
This commit is contained in:
Alessio Quaglino
2024-02-13 02:08:31 -08:00
committed by Copybara-Service
parent 47bb4a828e
commit 06505f49f9
8 changed files with 202 additions and 101 deletions
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src/user/user_init.cc
+15
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@@ -15,6 +15,7 @@
#include <cstring>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "cc/array_safety.h"
#include "user/user_api.h"
#include "user/user_util.h"
@@ -191,6 +192,20 @@ void mjm_defaultFlex(mjmFlex& flex) {
// default texture attributes
void mjm_defaultTexture(mjmTexture& texture) {
memset(&texture, 0, sizeof(mjmTexture));
texture.type = mjTEXTURE_CUBE;
mjuu_setvec(texture.rgb1, 0.8, 0.8, 0.8);
mjuu_setvec(texture.rgb2, 0.5, 0.5, 0.5);
mjuu_setvec(texture.markrgb, 0, 0, 0);
texture.random = 0.01;
texture.gridsize[0] = texture.gridsize[1] = 1;
mujoco::util::strcpy_arr(texture.gridlayout, "............");
}
// default material attributes
void mjm_defaultMaterial(mjmMaterial& material) {
memset(&material, 0, sizeof(mjmMaterial));