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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_objects.cc
+52 -35
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@@ -2579,35 +2579,50 @@ void mjCHField::Compile(const mjVFS* vfs) {
// initialize defaults
mjCTexture::mjCTexture(mjCModel* _model) {
mjm_defaultTexture(spec);
// set model pointer
model = _model;
// clear user settings: builtin
type = mjTEXTURE_CUBE;
builtin = mjBUILTIN_NONE;
mark = mjMARK_NONE;
mjuu_setvec(rgb1, 0.8, 0.8, 0.8);
mjuu_setvec(rgb2, 0.5, 0.5, 0.5);
mjuu_setvec(markrgb, 0, 0, 0);
random = 0.01;
height = width = 0;
// clear user settings: single file
file.clear();
gridsize[0] = gridsize[1] = 1;
mju::strcpy_arr(gridlayout, "............");
spec_file_.clear();
spec_content_type_.clear();
// clear user settings: separate file
for (int i=0; i<6; i++) {
cubefiles[i].clear();
}
// clear flip options
hflip = false;
vflip = false;
spec_cubefiles_.assign(6, "");
// clear internal variables
rgb = 0;
// point to local (needs to be after defaults)
PointToLocal();
// in case this camera is not compiled
CopyFromSpec();
}
void mjCTexture::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
spec.content_type = (mjString)&spec_content_type_;
spec.cubefiles = (mjStringVec)&spec_cubefiles_;
spec.info = (mjString)&info;
}
void mjCTexture::CopyFromSpec() {
*static_cast<mjmTexture*>(this) = spec;
file_ = spec_file_;
content_type_ = spec_content_type_;
cubefiles_ = spec_cubefiles_;
file = (mjString)&file_;
content_type = (mjString)&content_type_;
cubefiles = (mjStringVec)&cubefiles_;
}
@@ -2930,7 +2945,7 @@ void mjCTexture::LoadCustom(mjResource* resource,
void mjCTexture::LoadFlip(string filename, const mjVFS* vfs,
std::vector<unsigned char>& image,
unsigned int& w, unsigned int& h) {
std::string asset_type = GetAssetContentType(filename, content_type);
std::string asset_type = GetAssetContentType(filename, content_type_);
// fallback to custom
if (asset_type.empty()) {
@@ -3017,7 +3032,7 @@ void mjCTexture::Load2D(string filename, const mjVFS* vfs) {
rgb = (mjtByte*) mju_malloc(3*width*height);
if (!rgb) {
throw mjCError(this, "Could not allocate memory for texture '%s' (id %d)",
(const char*)file.c_str(), id);
(const char*)file_.c_str(), id);
}
memcpy(rgb, image.data(), 3*width*height);
image.clear();
@@ -3043,7 +3058,7 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
if (w/gridsize[1]!=h/gridsize[0] || (w%gridsize[1]) || (h%gridsize[0])) {
throw mjCError(this,
"PNG size must be integer multiple of gridsize in texture '%s' (id %d)",
(const char*)file.c_str(), id);
(const char*)file_.c_str(), id);
}
// assign size: repeated or full
@@ -3059,7 +3074,7 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
if (!rgb) {
throw mjCError(this,
"Could not allocate memory for texture '%s' (id %d)",
(const char*)file.c_str(), id);
(const char*)file_.c_str(), id);
}
// copy: repeated
@@ -3090,7 +3105,7 @@ void mjCTexture::LoadCubeSingle(string filename, const mjVFS* vfs) {
i = 5;
} else if (gridlayout[k]!='.')
throw mjCError(this, "gridlayout symbol is not among '.RLUDFB' in texture '%s' (id %d)",
(const char*)file.c_str(), id);
(const char*)file_.c_str(), id);
// load if specified
if (i>=0) {
@@ -3132,14 +3147,14 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
// process nonempty files
for (int i=0; i<6; i++) {
if (!cubefiles[i].empty()) {
if (!cubefiles_[i].empty()) {
// remove path from file if necessary
if (model->strippath) {
cubefiles[i] = mjuu_strippath(cubefiles[i]);
cubefiles_[i] = mjuu_strippath(cubefiles_[i]);
}
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->texturedir, cubefiles[i]);
string filename = mjuu_makefullname(model->modelfiledir, model->texturedir, cubefiles_[i]);
// load PNG or custom
unsigned int w, h;
@@ -3150,7 +3165,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
if (w!=h) {
throw mjCError(this,
"Non-square PNG file '%s' in cube or skybox id %d",
(const char*)cubefiles[i].c_str(), id);
(const char*)cubefiles_[i].c_str(), id);
}
// first file: set size and allocate data
@@ -3169,7 +3184,7 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
else if (width!=w) {
throw mjCError(this,
"PNG file '%s' has incompatible size in texture id %d",
(const char*)cubefiles[i].c_str(), id);
(const char*)cubefiles_[i].c_str(), id);
}
// copy data
@@ -3199,6 +3214,8 @@ void mjCTexture::LoadCubeSeparate(const mjVFS* vfs) {
// compiler
void mjCTexture::Compile(const mjVFS* vfs) {
CopyFromSpec();
// builtin
if (builtin!=mjBUILTIN_NONE) {
// check size
@@ -3230,14 +3247,14 @@ void mjCTexture::Compile(const mjVFS* vfs) {
}
// single file
else if (!file.empty()) {
else if (!file_.empty()) {
// remove path from file if necessary
if (model->strippath) {
file = mjuu_strippath(file);
file_ = mjuu_strippath(file_);
}
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->texturedir, file);
string filename = mjuu_makefullname(model->modelfiledir, model->texturedir, file_);
// dispatch
if (type==mjTEXTURE_2D) {
@@ -3259,14 +3276,14 @@ void mjCTexture::Compile(const mjVFS* vfs) {
// at least one cubefile must be defined
bool defined = false;
for (int i=0; i<6; i++) {
if (!cubefiles[i].empty()) {
if (!cubefiles_[i].empty()) {
defined = true;
break;
}
}
if (!defined) {
throw mjCError(this,
"No cubefiles defined in cube or skybox texture '%s' (id %d)",
"No cubefiles_ defined in cube or skybox texture '%s' (id %d)",
(const char*)name.c_str(), id);
}