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Add ability to specify a material assignment to a mesh asset.

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This extends both the spec and the XML definition to allow specification of a material name on a mesh. This material acts as a fallback in the case that the referencing geom element does not specify a material of it's own.

PiperOrigin-RevId: 798232378
Change-Id: Iaf300c727732744ea1b613e64334ee505ac6e209
This commit is contained in:
Sam Haves
2025-08-22 09:10:35 -07:00
committed by Copybara-Service
parent 42d8454555
commit 1fb1810b07
13 changed files with 120 additions and 29 deletions
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src/user/user_model.cc
+17 -15
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@@ -1879,7 +1879,23 @@ void mjCModel::IndexAssets(bool discard) {
for (int i=0; i < geoms_.size(); i++) {
mjCGeom* geom = geoms_[i];
// find material by name
// find mesh by name
if (!geom->get_meshname().empty()) {
mjCMesh* mesh = static_cast<mjCMesh*>(FindObject(mjOBJ_MESH, geom->get_meshname()));
if (mesh) {
if (!geom->visual_) {
mesh->SetNotVisual(); // reset to true by mesh->Compile()
}
geom->mesh = (discard && geom->visual_) ? nullptr : mesh;
mesh->spec.needsdf |= geom->spec.type == mjGEOM_SDF;
} else {
throw mjCError(geom, "mesh '%s' not found in geom %d", geom->get_meshname().c_str(), i);
}
}
// find material by name, this has to happen after mesh assignment so that if
// the geom does not specify a material but the mesh does it can fall back.
if (!geom->get_material().empty()) {
mjCBase* material = FindObject(mjOBJ_MATERIAL, geom->get_material());
if (material) {
@@ -1889,20 +1905,6 @@ void mjCModel::IndexAssets(bool discard) {
}
}
// find mesh by name
if (!geom->get_meshname().empty()) {
mjCBase* mesh = FindObject(mjOBJ_MESH, geom->get_meshname());
if (mesh) {
if (!geom->visual_) {
((mjCMesh*)mesh)->SetNotVisual(); // reset to true by mesh->Compile()
}
geom->mesh = (discard && geom->visual_) ? nullptr : (mjCMesh*)mesh;
static_cast<mjCMesh*>(mesh)->spec.needsdf |= geom->spec.type == mjGEOM_SDF;
} else {
throw mjCError(geom, "mesh '%s' not found in geom %d", geom->get_meshname().c_str(), i);
}
}
// find hfield by name
if (!geom->get_hfieldname().empty()) {
mjCBase* hfield = FindObject(mjOBJ_HFIELD, geom->get_hfieldname());