Allow multiple textures per material in MJCF.

PiperOrigin-RevId: 654795013 Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
2024-07-22 09:56:58 -07:00
parent e79efa60d6
commit 33e5960653
14 changed files with 474 additions and 106 deletions
@@ -500,6 +500,7 @@ typedef struct mjsTexture_ {       // texture specification
  double random;                   // probability of random dots
  int height;                      // height in pixels (square for cube and skybox)
  int width;                       // width in pixels
+  int nchannel;                    // number of channels

  // method 2: single file
  mjString* content_type;          // content type of file
@@ -522,7 +523,7 @@ typedef struct mjsTexture_ {       // texture specification
 typedef struct mjsMaterial_ {      // material specification
  mjsElement* element;             // element type
  mjString* name;                  // name
-  mjString* texture;               // name of texture (empty: none)
+  mjStringVec* textures;           // names of textures (empty: none)
  mjtByte texuniform;              // make texture cube uniform
  float texrepeat[2];              // texture repetition for 2D mapping
  float emission;                  // emission