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Allow multiple textures per material in MJCF.

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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
This commit is contained in:
Tom Erez
2024-07-22 09:56:58 -07:00
committed by Copybara-Service
parent e79efa60d6
commit 33e5960653
14 changed files with 474 additions and 106 deletions
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src/render/render_context.c
+3 -2
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@@ -1304,7 +1304,7 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
}
if (m->nmat >= mjMAXMATERIAL-1) {
mju_error("Maximum number of materials is %d", mjMAXMATERIAL);
mju_error("Maximum number of materials is 100, got %d", m->nmat);
}
for (int i=0; i < m->nmat; i++) {
if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {
@@ -1320,7 +1320,8 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
for (int i=0; i < m->ntex; i++) {
if (m->tex_type[i] == mjTEXTURE_SKYBOX) {
if (m->nmat >= mjMAXMATERIAL-2) {
mju_error("With skybox, maximum number of materials is %d", mjMAXMATERIAL);
mju_error("With skybox, maximum number of materials is 99, got %d",
m->nmat);
}
for (int j=0; j < mjNTEXROLE; j++) {
con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + j] = -1;