chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Allow multiple textures per material in MJCF.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+18 -18
View File
@@ -947,13 +947,11 @@ void mjCModel::DeleteMaterial(std::vector<T*>& list, std::string_view name) {
// delete texture with given name or all textures if the name is omitted
// delete all textures
template <class T>
static void DeleteTexture(std::vector<T*>& list, std::string_view name = "") {
static void DeleteAllTextures(std::vector<T*>& list) {
for (T* plist : list) {
if (name.empty() || plist->get_texture() == name) {
plist->del_texture();
}
plist->del_textures();
}
}
@@ -1046,7 +1044,7 @@ void mjCModel::DeleteAll<mjCMaterial>(std::vector<mjCMaterial*>& elements) {
template <>
void mjCModel::DeleteAll<mjCTexture>(std::vector<mjCTexture*>& elements) {
DeleteTexture(materials_);
DeleteAllTextures(materials_);
for (mjCTexture* element : elements) {
delete element;
}
@@ -1202,13 +1200,15 @@ void mjCModel::IndexAssets(bool discard) {
for (int i=0; i<materials_.size(); i++) {
mjCMaterial* material = materials_[i];
// find texture by name
if (!material->texture_.empty()) {
mjCBase* texture = FindObject(mjOBJ_TEXTURE, material->texture_);
if (texture) {
material->texid = texture->id;
} else {
throw mjCError(material, "texture '%s' not found in material %d", material->texture_.c_str(), i);
// find textures by name
for (int j=0; j<mjNTEXROLE; j++) {
if (!material->textures_[j].empty()) {
mjCBase* texture = FindObject(mjOBJ_TEXTURE, material->textures_[j]);
if (texture) {
material->texid[j] = texture->id;
} else {
throw mjCError(material, "texture '%s' not found in material %d", material->textures_[j].c_str(), i);
}
}
}
}
@@ -2504,14 +2504,15 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tex_type[i] = ptex->type;
m->tex_height[i] = ptex->height;
m->tex_width[i] = ptex->width;
m->tex_nchannel[i] = ptex->nchannel;
m->tex_adr[i] = data_adr;
m->tex_nchannel[i] = 3;
// copy rgb data
memcpy(m->tex_data + data_adr, ptex->rgb.data(), 3*ptex->width*ptex->height);
memcpy(m->tex_data + data_adr, ptex->data.data(),
ptex->nchannel * ptex->width * ptex->height);
// advance counter
data_adr += 3*ptex->width*ptex->height;
data_adr += ptex->nchannel * ptex->width * ptex->height;
}
// materials
@@ -2521,9 +2522,8 @@ void mjCModel::CopyObjects(mjModel* m) {
// set fields
for (int j=0; j<mjNTEXROLE; j++) {
m->mat_texid[mjNTEXROLE*i+j] = -1;
m->mat_texid[mjNTEXROLE*i+j] = pmat->texid[j];
}
m->mat_texid[mjNTEXROLE*i+mjTEXROLE_RGB] = pmat->texid;
m->mat_texuniform[i] = pmat->texuniform;
mjuu_copyvec(m->mat_texrepeat+2*i, pmat->texrepeat, 2);
m->mat_emission[i] = pmat->emission;