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add content_type to model in the XML schema.

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PiperOrigin-RevId: 670961443
Change-Id: I98cd6bb61b50029cdd4f5b31e23d268989d136da
This commit is contained in:
Alessio Quaglino
2024-09-04 07:24:48 -07:00
committed by Copybara-Service
parent 9a27fc14c2
commit 0e8c0b80eb
5 changed files with 31 additions and 7 deletions
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src/render/render_context.c
+10 -2
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@@ -1382,8 +1382,16 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
// assign data
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m->tex_width[texid], m->tex_height[texid], 0,
GL_RGB, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid]);
int type = 0;
if (m->tex_nchannel[texid] == 3) {
type = GL_RGB;
} else if (m->tex_nchannel[texid] == 4) {
type = GL_RGBA;
} else {
mju_error("Number of channels not supported: %d", m->tex_nchannel[texid]);
}
glTexImage2D(GL_TEXTURE_2D, 0, type, m->tex_width[texid], m->tex_height[texid], 0,
type, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid]);
// generate mipmaps
glGenerateMipmap(GL_TEXTURE_2D);