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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/user/user_objects.h
+6 -6
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@@ -1003,7 +1003,7 @@ class mjCHField : public mjCHField_, private mjsHField {
class mjCTexture_ : public mjCBase {
protected:
std::vector<mjtByte> rgb; // rgb data
std::vector<mjtByte> data; // texture data (rgb, roughness, etc.)
std::string file_;
std::string content_type_;
@@ -1063,9 +1063,9 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
class mjCMaterial_ : public mjCBase {
protected:
int texid; // id of material's texture
std::string texture_;
std::string spec_texture_;
int texid[mjNTEXROLE]; // id of material's textures
std::vector<std::string> textures_;
std::vector<std::string> spec_textures_;
};
class mjCMaterial : public mjCMaterial_, private mjsMaterial {
@@ -1086,8 +1086,8 @@ class mjCMaterial : public mjCMaterial_, private mjsMaterial {
void PointToLocal();
void NameSpace(const mjCModel* m);
const std::string& get_texture() const { return texture_; }
void del_texture() { texture_.clear(); }
const std::string& get_texture(int i) const { return textures_[i]; }
void del_textures() { for (auto& t : textures_) t.clear(); }
private:
void Compile(void); // compiler