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Allow flipping textures with any number of channels and user provided pixel data.

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PiperOrigin-RevId: 813256285
Change-Id: I0d49885dc483ab8f093b2566ec4bef355575505e
This commit is contained in:
Sam Haves
2025-09-30 07:27:12 -07:00
committed by Copybara-Service
parent bdccbcc60a
commit 2dc533b63b
3 changed files with 128 additions and 94 deletions
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test/user/user_api_test.cc
+53
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@@ -794,6 +794,59 @@ TEST_F(PluginTest, TextureFromBuffer) {
mj_deleteSpec(spec);
}
TEST_F(MujocoTest, TestTextureFlip) {
mjSpec* spec = mj_makeSpec();
EXPECT_THAT(spec, NotNull());
std::vector<std::byte> texture_data = {std::byte{1}, std::byte{2},
std::byte{3}, std::byte{4}};
mjsTexture* texture = mjs_addTexture(spec);
mjs_setName(texture->element, "hflipped");
texture->type = mjTEXTURE_2D;
texture->width = 2;
texture->height = 2;
texture->nchannel = 1;
texture->hflip = true;
mjs_setBuffer(texture->data, texture_data.data(), texture_data.size());
texture_data = {std::byte{11}, std::byte{12}, std::byte{13}, std::byte{21},
std::byte{22}, std::byte{23}, std::byte{31}, std::byte{32},
std::byte{33}, std::byte{41}, std::byte{42}, std::byte{43}};
texture = mjs_addTexture(spec);
mjs_setName(texture->element, "vflipped");
texture->type = mjTEXTURE_2D;
texture->width = 2;
texture->height = 2;
texture->nchannel = 3;
texture->vflip = true;
mjs_setBuffer(texture->data, texture_data.data(), texture_data.size());
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull()) << mjs_getError(spec);
EXPECT_THAT(model->tex_data[0], 2);
EXPECT_THAT(model->tex_data[1], 1);
EXPECT_THAT(model->tex_data[2], 4);
EXPECT_THAT(model->tex_data[3], 3);
EXPECT_THAT(model->tex_data[4], 31);
EXPECT_THAT(model->tex_data[5], 32);
EXPECT_THAT(model->tex_data[6], 33);
EXPECT_THAT(model->tex_data[7], 41);
EXPECT_THAT(model->tex_data[8], 42);
EXPECT_THAT(model->tex_data[9], 43);
EXPECT_THAT(model->tex_data[10], 11);
EXPECT_THAT(model->tex_data[11], 12);
EXPECT_THAT(model->tex_data[12], 13);
EXPECT_THAT(model->tex_data[13], 21);
EXPECT_THAT(model->tex_data[14], 22);
EXPECT_THAT(model->tex_data[15], 23);
mj_deleteModel(model);
mj_deleteSpec(spec);
}
// -------------------------------- test attach --------------------------------
static constexpr char xml_child[] = R"(