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/xml/xml_native_writer.cc
+14 -2
View File
@@ -305,8 +305,20 @@ void mjXWriter::OneMaterial(XMLElement* elem, const mjCMaterial* pmat, mjCDef* d
}
// defaults and regular
if (pmat->texture != def->Material().texture) {
WriteAttrTxt(elem, "texture", pmat->get_texture());
bool has_non_rgb = false;
for (int i=1; i<mjNTEXROLE; i++) {
if (!pmat->textures_[i].empty()) {
if (i != mjTEXROLE_RGB) {
has_non_rgb = true;
}
}
if (pmat->textures_[i] != def->Material().textures_[i]) {
WriteAttrTxt(elem, "texture", pmat->get_texture(i));
}
}
if (has_non_rgb) {
// // TODO elem = InsertEnd(section, "role");
mju_error("mjXWriter: no support for non-RGB textures.");
}
WriteAttrKey(elem, "texuniform", bool_map, 2, pmat->texuniform, def->Material().texuniform);
WriteAttr(elem, "texrepeat", 2, pmat->texrepeat, def->Material().texrepeat);