Allow multiple textures per material in MJCF.
PiperOrigin-RevId: 654795013 Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
This commit is contained in:
Tom Erez
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Copybara-Service
Copybara-Service
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e79efa60d6
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33e5960653
+121
-1
@@ -1636,6 +1636,11 @@ still be specified here but this functionality is now deprecated and will be rem
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:at:`vflip`: :at-val:`[false, true], "false"`
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If true, images loaded from file are flipped in the vertical direction. Does not affect procedural textures.
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.. _asset-texture-nchannel:
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:at:`nchannel`: :at-val:`int, "3"`
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The number of channels in the texture image file. This allows loading 4-channel textures (RGBA) or single-channel
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textures (e.g., for Physics-Based Rendering properties such as roughness or metallic).
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.. _asset-material:
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@@ -1666,7 +1671,12 @@ properties are grouped together.
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If this attribute is specified, the material has a texture associated with it. Referencing the material from a model
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element will cause the texture to be applied to that element. Note that the value of this attribute is the name of a
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texture asset, not a texture file name. Textures cannot be loaded in the material definition; instead they must be
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loaded explicitly via the :ref:`texture <asset-texture>` element and then referenced here.
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loaded explicitly via the :ref:`texture <asset-texture>` element and then referenced here. The texture referenced
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here is used for specifying the RGB values. For advanced rendering (e.g., Physics-Based Rendering), more texture
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types need to be specified (e.g., roughness, metallic). In this case, this texture attribute should be omitted, and
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the texture types should be specified explicitly via the specific role child elements, e.g.,
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:ref:`texture <material-orm>`. Note however that the built-in renderer does not support PBR properties, so these
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advanced rendering features are only available when using an external renderer.
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.. _asset-material-texrepeat:
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@@ -1738,6 +1748,116 @@ properties are grouped together.
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model element which defines its own local rgba attribute, the local definition has precedence. Note that this "local"
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definition could in fact come from a defaults class. The remaining material properties always apply.
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.. _material-rgb:
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:el-prefix:`material/` |-| **rgb** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify base color / albedo values.
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.. _material-rgb-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly 3 channels.
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.. _material-normal:
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:el-prefix:`material/` |-| **normal** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify the bump map (surface normals).
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.. _material-normal-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly 3 channels.
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.. _material-occlusion:
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:el-prefix:`material/` |-| **occlusion** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify ambient occlusion.
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.. _material-occlusion-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly one channel.
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.. _material-roughness:
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:el-prefix:`material/` |-| **roughness** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify the roughness map.
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.. _material-roughness-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly one channel.
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.. _material-metallic:
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:el-prefix:`material/` |-| **metallic** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify the metallic map.
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.. _material-metallic-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly one channel.
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.. _material-opacity:
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:el-prefix:`material/` |-| **opacity** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify the opacity map (alpha channel, transparency).
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.. _material-opacity-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly one channel.
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.. _material-emissive:
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:el-prefix:`material/` |-| **emissive** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify light emission.
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.. _material-emissive-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly 4 channels.
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.. _material-orm:
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:el-prefix:`material/` |-| **orm** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify a packed ORM map, where occlusion, roughness, and metallic
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are joined into the corresponding RGB values of a single texture.
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.. _material-orm-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly 3 channels.
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.. _material-rgba:
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:el-prefix:`material/` |-| **rgba** (?)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This element references a texture asset used to specify a packed map where albedo and opacity are joined into the same
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4-channel texture.
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.. _material-rgba-texture:
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:at:`texture`: :at-val:`string, required`
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Name of the texture, expected to have exactly 4 channels.
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.. _asset-model:
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+64
-1
@@ -163,7 +163,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`markrgb<asset-texture-markrgb>` | :ref:`random<asset-texture-random>` | :ref:`width<asset-texture-width>` | :ref:`height<asset-texture-height>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | | | |
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| | | | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | :ref:`nchannel<asset-texture-nchannel>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| asset |br| |_| |L| | | .. table:: |
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@@ -177,6 +177,69 @@
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| | | | :ref:`reflectance<asset-material-reflectance>` | :ref:`metallic<asset-material-metallic>` | :ref:`roughness<asset-material-roughness>` | :ref:`rgba<asset-material-rgba>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`rgb | ? | :class: mjcf-attributes |
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| <material-rgb>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-rgb-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`occlusion | ? | :class: mjcf-attributes |
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| <material-occlusion>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-occlusion-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`roughness | ? | :class: mjcf-attributes |
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| <material-roughness>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-roughness-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`metallic | ? | :class: mjcf-attributes |
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| <material-metallic>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-metallic-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`normal | ? | :class: mjcf-attributes |
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| <material-normal>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-normal-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`opacity | ? | :class: mjcf-attributes |
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| <material-opacity>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-opacity-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`emissive | ? | :class: mjcf-attributes |
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| <material-emissive>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-emissive-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`rgba | ? | :class: mjcf-attributes |
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| <material-rgba>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-rgba-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| material |br| |_2| |L| | | .. table:: |
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| :ref:`orm | ? | :class: mjcf-attributes |
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| <material-orm>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`texture<material-orm-texture>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| asset |br| |_| |L| | | .. table:: |
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| :ref:`model | \* | :class: mjcf-attributes |
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| <asset-model>` | | |
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+5
-2
@@ -10,15 +10,18 @@ General
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1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
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2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
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3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures
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for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't support
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these new features, and they are made available for use with external renderers.
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MJX
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^^^
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3. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
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4. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
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Python bindings
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^^^^^^^^^^^^^^^
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4. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
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5. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
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``mujoco.spec.compile``.
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Version 3.2.0 (Jul 15, 2024)
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@@ -2015,6 +2015,7 @@ typedef struct mjsTexture_ { // texture specification
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double random; // probability of random dots
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int height; // height in pixels (square for cube and skybox)
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int width; // width in pixels
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int nchannel; // number of channels
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// method 2: single file
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mjString* content_type; // content type of file
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@@ -2035,7 +2036,7 @@ typedef struct mjsTexture_ { // texture specification
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typedef struct mjsMaterial_ { // material specification
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mjsElement* element; // element type
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mjString* name; // name
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mjString* texture; // name of texture (empty: none)
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mjStringVec* textures; // names of textures (empty: none)
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mjtByte texuniform; // make texture cube uniform
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float texrepeat[2]; // texture repetition for 2D mapping
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float emission; // emission
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