chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 4 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/xml/xml_native_reader.cc
+47 -3
View File
@@ -239,12 +239,23 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"<"},
{"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
{">"},
{"texture", "*", "22", "name", "type", "content_type", "file", "gridsize", "gridlayout",
{"texture", "*", "23", "name", "type", "content_type", "file", "gridsize", "gridlayout",
"fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
"builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
"hflip", "vflip"},
"hflip", "vflip", "nchannel"},
{"material", "*", "12", "name", "class", "texture", "texrepeat", "texuniform",
"emission", "specular", "shininess", "reflectance", "metallic", "roughness", "rgba"},
{"<"},
{"rgb", "?", "1", "texture"},
{"occlusion", "?", "1", "texture"},
{"roughness", "?", "1", "texture"},
{"metallic", "?", "1", "texture"},
{"normal", "?", "1", "texture"},
{"opacity", "?", "1", "texture"},
{"emissive", "?", "1", "texture"},
{"rgba", "?", "1", "texture"},
{"orm", "?", "1", "texture"},
{">"},
{"model", "*", "2", "name", "file"},
{">"},
@@ -577,6 +588,19 @@ const mjMap camlight_map[camlight_sz] = {
{"targetbodycom", mjCAMLIGHT_TARGETBODYCOM}
};
// texmat role type
const int texrole_sz = mjNTEXROLE - 1;
const mjMap texrole_map[texrole_sz] = {
{"rgb", mjTEXROLE_RGB},
{"occlusion", mjTEXROLE_OCCLUSION},
{"roughness", mjTEXROLE_ROUGHNESS},
{"metallic", mjTEXROLE_METALLIC},
{"normal", mjTEXROLE_NORMAL},
{"opacity", mjTEXROLE_OPACITY},
{"emissive", mjTEXROLE_EMISSIVE},
{"rgba", mjTEXROLE_RGBA},
{"orm", mjTEXROLE_ORM},
};
// integrator type
const int integrator_sz = 4;
@@ -1534,9 +1558,26 @@ void mjXReader::OneMaterial(XMLElement* elem, mjsMaterial* pmat) {
if (ReadAttrTxt(elem, "name", name)) {
mjs_setString(pmat->name, name.c_str());
}
bool tex_attributes_found = false;
if (ReadAttrTxt(elem, "texture", texture)) {
mjs_setString(pmat->texture, texture.c_str());
mjs_setInStringVec(pmat->textures, mjTEXROLE_RGB, texture.c_str());
tex_attributes_found = true;
}
XMLElement* tex_elem = FirstChildElement(elem);
while (tex_elem) {
if (tex_attributes_found) {
throw mjXError(tex_elem, "A material with a texture attribute cannot have texture sub-elements");
}
// texture sub-element
int role = FindKey(texrole_map, texrole_sz, tex_elem->Name());
string texmat;
ReadAttrTxt(tex_elem, "texture", texmat, true);
mjs_setInStringVec(pmat->textures, role, texmat.c_str());
tex_elem = NextSiblingElement(tex_elem);
}
if (MapValue(elem, "texuniform", &n, bool_map, 2)) {
pmat->texuniform = (n==1);
}
@@ -3095,6 +3136,9 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
}
ReadAttrInt(elem, "width", &ptex->width);
ReadAttrInt(elem, "height", &ptex->height);
if (!ReadAttrInt(elem, "nchannel", &ptex->nchannel)) {
ptex->nchannel = 3;
}
ReadAttr(elem, "rgb1", 3, ptex->rgb1, text);
ReadAttr(elem, "rgb2", 3, ptex->rgb2, text);
ReadAttr(elem, "markrgb", 3, ptex->markrgb, text);