Add textured materials to render context, and refactor mjvGeom to refer to those textures.

PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc

doc/includes/references.h

@@ -1512,92 +1512,97 @@ struct mjrRect_ {                 // OpenGL rectangle
   int height;                     // height (usually buffer height)
 };
 typedef struct mjrRect_ mjrRect;
-struct mjrContext_ {              // custom OpenGL context
+struct mjrContext_ {                // custom OpenGL context
   // parameters copied from mjVisual
-  float lineWidth;                // line width for wireframe rendering
-  float shadowClip;               // clipping radius for directional lights
-  float shadowScale;              // fraction of light cutoff for spot lights
-  float fogStart;                 // fog start = stat.extent * vis.map.fogstart
-  float fogEnd;                   // fog end = stat.extent * vis.map.fogend
-  float fogRGBA[4];               // fog rgba
-  int shadowSize;                 // size of shadow map texture
-  int offWidth;                   // width of offscreen buffer
-  int offHeight;                  // height of offscreen buffer
-  int offSamples;                 // number of offscreen buffer multisamples
+  float lineWidth;                  // line width for wireframe rendering
+  float shadowClip;                 // clipping radius for directional lights
+  float shadowScale;                // fraction of light cutoff for spot lights
+  float fogStart;                   // fog start = stat.extent * vis.map.fogstart
+  float fogEnd;                     // fog end = stat.extent * vis.map.fogend
+  float fogRGBA[4];                 // fog rgba
+  int shadowSize;                   // size of shadow map texture
+  int offWidth;                     // width of offscreen buffer
+  int offHeight;                    // height of offscreen buffer
+  int offSamples;                   // number of offscreen buffer multisamples
 
   // parameters specified at creation
-  int fontScale;                  // font scale
-  int auxWidth[mjNAUX];           // auxiliary buffer width
-  int auxHeight[mjNAUX];          // auxiliary buffer height
-  int auxSamples[mjNAUX];         // auxiliary buffer multisamples
+  int fontScale;                    // font scale
+  int auxWidth[mjNAUX];             // auxiliary buffer width
+  int auxHeight[mjNAUX];            // auxiliary buffer height
+  int auxSamples[mjNAUX];           // auxiliary buffer multisamples
 
   // offscreen rendering objects
-  unsigned int offFBO;            // offscreen framebuffer object
-  unsigned int offFBO_r;          // offscreen framebuffer for resolving multisamples
-  unsigned int offColor;          // offscreen color buffer
-  unsigned int offColor_r;        // offscreen color buffer for resolving multisamples
-  unsigned int offDepthStencil;   // offscreen depth and stencil buffer
-  unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
+  unsigned int offFBO;              // offscreen framebuffer object
+  unsigned int offFBO_r;            // offscreen framebuffer for resolving multisamples
+  unsigned int offColor;            // offscreen color buffer
+  unsigned int offColor_r;          // offscreen color buffer for resolving multisamples
+  unsigned int offDepthStencil;     // offscreen depth and stencil buffer
+  unsigned int offDepthStencil_r;   // offscreen depth and stencil buffer for multisamples
 
   // shadow rendering objects
-  unsigned int shadowFBO;         // shadow map framebuffer object
-  unsigned int shadowTex;         // shadow map texture
+  unsigned int shadowFBO;           // shadow map framebuffer object
+  unsigned int shadowTex;           // shadow map texture
 
   // auxiliary buffers
-  unsigned int auxFBO[mjNAUX];    // auxiliary framebuffer object
-  unsigned int auxFBO_r[mjNAUX];  // auxiliary framebuffer object for resolving
-  unsigned int auxColor[mjNAUX];  // auxiliary color buffer
-  unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
+  unsigned int auxFBO[mjNAUX];      // auxiliary framebuffer object
+  unsigned int auxFBO_r[mjNAUX];    // auxiliary framebuffer object for resolving
+  unsigned int auxColor[mjNAUX];    // auxiliary color buffer
+  unsigned int auxColor_r[mjNAUX];  // auxiliary color buffer for resolving
+
+  // materials with textures
+  int mat_texid[mjMAXMATERIAL*mjNTEXMAT];  // material texture ids (-1: no texture)
+  int mat_texuniform[mjMAXMATERIAL];       // texture repetition for 2d mapping
+  int mat_texrepeat[mjMAXMATERIAL*2];      // texture repetition for 2d mapping
 
   // texture objects and info
-  int ntexture;                   // number of allocated textures
-  int textureType[100];           // type of texture (mjtTexture) (ntexture)
-  unsigned int texture[100];      // texture names
+  int ntexture;                        // number of allocated textures
+  int textureType[mjMAXTEXTURE];       // type of texture (mjtTexture) (ntexture)
+  unsigned int texture[mjMAXTEXTURE];  // texture names
 
   // displaylist starting positions
-  unsigned int basePlane;         // all planes from model
-  unsigned int baseMesh;          // all meshes from model
-  unsigned int baseHField;        // all hfields from model
-  unsigned int baseBuiltin;       // all buildin geoms, with quality from model
-  unsigned int baseFontNormal;    // normal font
-  unsigned int baseFontShadow;    // shadow font
-  unsigned int baseFontBig;       // big font
+  unsigned int basePlane;           // all planes from model
+  unsigned int baseMesh;            // all meshes from model
+  unsigned int baseHField;          // all height fields from model
+  unsigned int baseBuiltin;         // all builtin geoms, with quality from model
+  unsigned int baseFontNormal;      // normal font
+  unsigned int baseFontShadow;      // shadow font
+  unsigned int baseFontBig;         // big font
 
   // displaylist ranges
-  int rangePlane;                 // all planes from model
-  int rangeMesh;                  // all meshes from model
-  int rangeHField;                // all hfields from model
-  int rangeBuiltin;               // all builtin geoms, with quality from model
-  int rangeFont;                  // all characters in font
+  int rangePlane;                   // all planes from model
+  int rangeMesh;                    // all meshes from model
+  int rangeHField;                  // all hfields from model
+  int rangeBuiltin;                 // all builtin geoms, with quality from model
+  int rangeFont;                    // all characters in font
 
   // skin VBOs
-  int nskin;                      // number of skins
-  unsigned int* skinvertVBO;      // skin vertex position VBOs (nskin)
-  unsigned int* skinnormalVBO;    // skin vertex normal VBOs (nskin)
-  unsigned int* skintexcoordVBO;  // skin vertex texture coordinate VBOs (nskin)
-  unsigned int* skinfaceVBO;      // skin face index VBOs (nskin)
+  int nskin;                        // number of skins
+  unsigned int* skinvertVBO;        // skin vertex position VBOs (nskin)
+  unsigned int* skinnormalVBO;      // skin vertex normal VBOs (nskin)
+  unsigned int* skintexcoordVBO;    // skin vertex texture coordinate VBOs (nskin)
+  unsigned int* skinfaceVBO;        // skin face index VBOs (nskin)
 
   // character info
-  int charWidth[127];             // character widths: normal and shadow
-  int charWidthBig[127];          // chacarter widths: big
-  int charHeight;                 // character heights: normal and shadow
-  int charHeightBig;              // character heights: big
+  int charWidth[127];               // character widths: normal and shadow
+  int charWidthBig[127];            // chacarter widths: big
+  int charHeight;                   // character heights: normal and shadow
+  int charHeightBig;                // character heights: big
 
   // capabilities
-  int glInitialized;              // is OpenGL initialized
-  int windowAvailable;            // is default/window framebuffer available
-  int windowSamples;              // number of samples for default/window framebuffer
-  int windowStereo;               // is stereo available for default/window framebuffer
-  int windowDoublebuffer;         // is default/window framebuffer double buffered
+  int glInitialized;                // is OpenGL initialized
+  int windowAvailable;              // is default/window framebuffer available
+  int windowSamples;                // number of samples for default/window framebuffer
+  int windowStereo;                 // is stereo available for default/window framebuffer
+  int windowDoublebuffer;           // is default/window framebuffer double buffered
 
   // framebuffer
-  int     currentBuffer;          // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
+  int     currentBuffer;            // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
 
   // pixel output format
-  int     readPixelFormat;        // default color pixel format for mjr_readPixels
+  int     readPixelFormat;          // default color pixel format for mjr_readPixels
 
   // depth output format
-  int     readDepthMap;           // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
+  int     readDepthMap;             // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
 };
 typedef struct mjrContext_ mjrContext;
 typedef enum mjtGeomInertia_ {     // type of inertia inference
@@ -2639,21 +2644,22 @@ struct mjvGeom_ {                 // abstract geom
   int      objtype;               // mujoco object type; mjOBJ_UNKNOWN for decor
   int      objid;                 // mujoco object id; -1 for decor
   int      category;              // visual category
-  int      texid;                 // texture id; -1: no texture
-  int      texuniform;            // uniform cube mapping
+  int      matid;                 // material id; -1: no textured material
   int      texcoord;              // mesh or flex geom has texture coordinates
   int      segid;                 // segmentation id; -1: not shown
 
-  // OpenGL info
-  float    texrepeat[2];          // texture repetition for 2D mapping
+  // spatial transform
   float    size[3];               // size parameters
   float    pos[3];                // Cartesian position
   float    mat[9];                // Cartesian orientation
+
+  // material properties
   float    rgba[4];               // color and transparency
   float    emission;              // emission coef
   float    specular;              // specular coef
   float    shininess;             // shininess coef
   float    reflectance;           // reflectance coef
+
   char     label[100];            // text label
 
   // transparency rendering (set internally)

include/mujoco/mjmodel.h

@@ -44,7 +44,7 @@
 #define mjNIMP          5         // number of solver impedance parameters
 #define mjNSOLVER       200       // size of one mjData.solver array
 #define mjNISLAND       20        // number of mjData.solver arrays
-
+#define mjNTEXMAT       6         // number of textures per material
 
 //---------------------------------- enum types (mjt) ----------------------------------------------
 

include/mujoco/mjrender.h

@@ -15,14 +15,15 @@
 #ifndef MUJOCO_MJRENDER_H_
 #define MUJOCO_MJRENDER_H_
 
+#include <mujoco/mjmodel.h>
 
 #if defined(__cplusplus)
 extern "C" {
 #endif
 
 #define mjNAUX          10        // number of auxiliary buffers
-#define mjMAXTEXTURE    1000      // maximum number of textures
-
+#define mjMAXTEXTURE    100       // maximum number of textures
+#define mjMAXMATERIAL   100       // maximum number of materials with textures
 
 //---------------------------------- primitive types (mjt) -----------------------------------------
 
@@ -76,92 +77,97 @@ typedef struct mjrRect_ mjrRect;
 
 //---------------------------------- mjrContext ----------------------------------------------------
 
-struct mjrContext_ {              // custom OpenGL context
+struct mjrContext_ {                // custom OpenGL context
   // parameters copied from mjVisual
-  float lineWidth;                // line width for wireframe rendering
-  float shadowClip;               // clipping radius for directional lights
-  float shadowScale;              // fraction of light cutoff for spot lights
-  float fogStart;                 // fog start = stat.extent * vis.map.fogstart
-  float fogEnd;                   // fog end = stat.extent * vis.map.fogend
-  float fogRGBA[4];               // fog rgba
-  int shadowSize;                 // size of shadow map texture
-  int offWidth;                   // width of offscreen buffer
-  int offHeight;                  // height of offscreen buffer
-  int offSamples;                 // number of offscreen buffer multisamples
+  float lineWidth;                  // line width for wireframe rendering
+  float shadowClip;                 // clipping radius for directional lights
+  float shadowScale;                // fraction of light cutoff for spot lights
+  float fogStart;                   // fog start = stat.extent * vis.map.fogstart
+  float fogEnd;                     // fog end = stat.extent * vis.map.fogend
+  float fogRGBA[4];                 // fog rgba
+  int shadowSize;                   // size of shadow map texture
+  int offWidth;                     // width of offscreen buffer
+  int offHeight;                    // height of offscreen buffer
+  int offSamples;                   // number of offscreen buffer multisamples
 
   // parameters specified at creation
-  int fontScale;                  // font scale
-  int auxWidth[mjNAUX];           // auxiliary buffer width
-  int auxHeight[mjNAUX];          // auxiliary buffer height
-  int auxSamples[mjNAUX];         // auxiliary buffer multisamples
+  int fontScale;                    // font scale
+  int auxWidth[mjNAUX];             // auxiliary buffer width
+  int auxHeight[mjNAUX];            // auxiliary buffer height
+  int auxSamples[mjNAUX];           // auxiliary buffer multisamples
 
   // offscreen rendering objects
-  unsigned int offFBO;            // offscreen framebuffer object
-  unsigned int offFBO_r;          // offscreen framebuffer for resolving multisamples
-  unsigned int offColor;          // offscreen color buffer
-  unsigned int offColor_r;        // offscreen color buffer for resolving multisamples
-  unsigned int offDepthStencil;   // offscreen depth and stencil buffer
-  unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
+  unsigned int offFBO;              // offscreen framebuffer object
+  unsigned int offFBO_r;            // offscreen framebuffer for resolving multisamples
+  unsigned int offColor;            // offscreen color buffer
+  unsigned int offColor_r;          // offscreen color buffer for resolving multisamples
+  unsigned int offDepthStencil;     // offscreen depth and stencil buffer
+  unsigned int offDepthStencil_r;   // offscreen depth and stencil buffer for multisamples
 
   // shadow rendering objects
-  unsigned int shadowFBO;         // shadow map framebuffer object
-  unsigned int shadowTex;         // shadow map texture
+  unsigned int shadowFBO;           // shadow map framebuffer object
+  unsigned int shadowTex;           // shadow map texture
 
   // auxiliary buffers
-  unsigned int auxFBO[mjNAUX];    // auxiliary framebuffer object
-  unsigned int auxFBO_r[mjNAUX];  // auxiliary framebuffer object for resolving
-  unsigned int auxColor[mjNAUX];  // auxiliary color buffer
-  unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
+  unsigned int auxFBO[mjNAUX];      // auxiliary framebuffer object
+  unsigned int auxFBO_r[mjNAUX];    // auxiliary framebuffer object for resolving
+  unsigned int auxColor[mjNAUX];    // auxiliary color buffer
+  unsigned int auxColor_r[mjNAUX];  // auxiliary color buffer for resolving
+
+  // materials with textures
+  int mat_texid[mjMAXMATERIAL*mjNTEXMAT];  // material texture ids (-1: no texture)
+  int mat_texuniform[mjMAXMATERIAL];       // texture repetition for 2d mapping
+  int mat_texrepeat[mjMAXMATERIAL*2];      // texture repetition for 2d mapping
 
   // texture objects and info
-  int ntexture;                   // number of allocated textures
-  int textureType[100];           // type of texture (mjtTexture) (ntexture)
-  unsigned int texture[100];      // texture names
+  int ntexture;                        // number of allocated textures
+  int textureType[mjMAXTEXTURE];       // type of texture (mjtTexture) (ntexture)
+  unsigned int texture[mjMAXTEXTURE];  // texture names
 
   // displaylist starting positions
-  unsigned int basePlane;         // all planes from model
-  unsigned int baseMesh;          // all meshes from model
-  unsigned int baseHField;        // all hfields from model
-  unsigned int baseBuiltin;       // all buildin geoms, with quality from model
-  unsigned int baseFontNormal;    // normal font
-  unsigned int baseFontShadow;    // shadow font
-  unsigned int baseFontBig;       // big font
+  unsigned int basePlane;           // all planes from model
+  unsigned int baseMesh;            // all meshes from model
+  unsigned int baseHField;          // all height fields from model
+  unsigned int baseBuiltin;         // all builtin geoms, with quality from model
+  unsigned int baseFontNormal;      // normal font
+  unsigned int baseFontShadow;      // shadow font
+  unsigned int baseFontBig;         // big font
 
   // displaylist ranges
-  int rangePlane;                 // all planes from model
-  int rangeMesh;                  // all meshes from model
-  int rangeHField;                // all hfields from model
-  int rangeBuiltin;               // all builtin geoms, with quality from model
-  int rangeFont;                  // all characters in font
+  int rangePlane;                   // all planes from model
+  int rangeMesh;                    // all meshes from model
+  int rangeHField;                  // all hfields from model
+  int rangeBuiltin;                 // all builtin geoms, with quality from model
+  int rangeFont;                    // all characters in font
 
   // skin VBOs
-  int nskin;                      // number of skins
-  unsigned int* skinvertVBO;      // skin vertex position VBOs (nskin)
-  unsigned int* skinnormalVBO;    // skin vertex normal VBOs (nskin)
-  unsigned int* skintexcoordVBO;  // skin vertex texture coordinate VBOs (nskin)
-  unsigned int* skinfaceVBO;      // skin face index VBOs (nskin)
+  int nskin;                        // number of skins
+  unsigned int* skinvertVBO;        // skin vertex position VBOs (nskin)
+  unsigned int* skinnormalVBO;      // skin vertex normal VBOs (nskin)
+  unsigned int* skintexcoordVBO;    // skin vertex texture coordinate VBOs (nskin)
+  unsigned int* skinfaceVBO;        // skin face index VBOs (nskin)
 
   // character info
-  int charWidth[127];             // character widths: normal and shadow
-  int charWidthBig[127];          // chacarter widths: big
-  int charHeight;                 // character heights: normal and shadow
-  int charHeightBig;              // character heights: big
+  int charWidth[127];               // character widths: normal and shadow
+  int charWidthBig[127];            // chacarter widths: big
+  int charHeight;                   // character heights: normal and shadow
+  int charHeightBig;                // character heights: big
 
   // capabilities
-  int glInitialized;              // is OpenGL initialized
-  int windowAvailable;            // is default/window framebuffer available
-  int windowSamples;              // number of samples for default/window framebuffer
-  int windowStereo;               // is stereo available for default/window framebuffer
-  int windowDoublebuffer;         // is default/window framebuffer double buffered
+  int glInitialized;                // is OpenGL initialized
+  int windowAvailable;              // is default/window framebuffer available
+  int windowSamples;                // number of samples for default/window framebuffer
+  int windowStereo;                 // is stereo available for default/window framebuffer
+  int windowDoublebuffer;           // is default/window framebuffer double buffered
 
   // framebuffer
-  int     currentBuffer;          // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
+  int     currentBuffer;            // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
 
   // pixel output format
-  int     readPixelFormat;        // default color pixel format for mjr_readPixels
+  int     readPixelFormat;          // default color pixel format for mjr_readPixels
 
   // depth output format
-  int     readDepthMap;           // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
+  int     readDepthMap;             // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
 };
 typedef struct mjrContext_ mjrContext;
 

include/mujoco/mjvisualize.h

@@ -230,21 +230,22 @@ struct mjvGeom_ {                 // abstract geom
   int      objtype;               // mujoco object type; mjOBJ_UNKNOWN for decor
   int      objid;                 // mujoco object id; -1 for decor
   int      category;              // visual category
-  int      texid;                 // texture id; -1: no texture
-  int      texuniform;            // uniform cube mapping
+  int      matid;                 // material id; -1: no textured material
   int      texcoord;              // mesh or flex geom has texture coordinates
   int      segid;                 // segmentation id; -1: not shown
 
-  // OpenGL info
-  float    texrepeat[2];          // texture repetition for 2D mapping
+  // spatial transform
   float    size[3];               // size parameters
   float    pos[3];                // Cartesian position
   float    mat[9];                // Cartesian orientation
+
+  // material properties
   float    rgba[4];               // color and transparency
   float    emission;              // emission coef
   float    specular;              // specular coef
   float    shininess;             // shininess coef
   float    reflectance;           // reflectance coef
+
   char     label[100];            // text label
 
   // transparency rendering (set internally)

introspect/structs.py

@@ -5483,14 +5483,9 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='visual category',
              ),
              StructFieldDecl(
-                 name='texid',
+                 name='matid',
                  type=ValueType(name='int'),
-                 doc='texture id; -1: no texture',
-             ),
-             StructFieldDecl(
-                 name='texuniform',
-                 type=ValueType(name='int'),
-                 doc='uniform cube mapping',
+                 doc='material id; -1: no textured material',
              ),
              StructFieldDecl(
                  name='texcoord',
@@ -5502,14 +5497,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='segmentation id; -1: not shown',
              ),
-             StructFieldDecl(
-                 name='texrepeat',
-                 type=ArrayType(
-                     inner_type=ValueType(name='float'),
-                     extents=(2,),
-                 ),
-                 doc='texture repetition for 2D mapping',
-             ),
              StructFieldDecl(
                  name='size',
                  type=ArrayType(
@@ -7957,7 +7944,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='offDepthStencil_r',
                  type=ValueType(name='unsigned int'),
-                 doc='offscreen depth and stencil buffer for resolving multisamples',  # pylint: disable=line-too-long
+                 doc='offscreen depth and stencil buffer for multisamples',
              ),
              StructFieldDecl(
                  name='shadowFBO',
@@ -8001,6 +7988,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='auxiliary color buffer for resolving',
              ),
+             StructFieldDecl(
+                 name='mat_texid',
+                 type=ArrayType(
+                     inner_type=ValueType(name='int'),
+                     extents=(600,),
+                 ),
+                 doc='material texture ids (-1: no texture)',
+             ),
+             StructFieldDecl(
+                 name='mat_texuniform',
+                 type=ArrayType(
+                     inner_type=ValueType(name='int'),
+                     extents=(100,),
+                 ),
+                 doc='texture repetition for 2d mapping',
+             ),
+             StructFieldDecl(
+                 name='mat_texrepeat',
+                 type=ArrayType(
+                     inner_type=ValueType(name='int'),
+                     extents=(200,),
+                 ),
+                 doc='texture repetition for 2d mapping',
+             ),
              StructFieldDecl(
                  name='ntexture',
                  type=ValueType(name='int'),
@@ -8035,12 +8046,12 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='baseHField',
                  type=ValueType(name='unsigned int'),
-                 doc='all hfields from model',
+                 doc='all height fields from model',
              ),
              StructFieldDecl(
                  name='baseBuiltin',
                  type=ValueType(name='unsigned int'),
-                 doc='all buildin geoms, with quality from model',
+                 doc='all builtin geoms, with quality from model',
              ),
              StructFieldDecl(
                  name='baseFontNormal',

python/mujoco/render.cc

@@ -54,6 +54,9 @@ class MjWrapper<raw::MjrContext> : public WrapperBase<raw::MjrContext> {
   X(auxFBO_r);
   X(auxColor);
   X(auxColor_r);
+  X(mat_texid);
+  X(mat_texuniform);
+  X(mat_texrepeat);
   X(textureType);
   X(texture);
   X(skinvertVBO);
@@ -95,6 +98,9 @@ MjrContextWrapper::MjWrapper()
       X(auxFBO_r),
       X(auxColor),
       X(auxColor_r),
+      X(mat_texid),
+      X(mat_texuniform),
+      X(mat_texrepeat),
       X(textureType),
       X(texture),
       X_SKIN(skinvertVBO),
@@ -119,6 +125,9 @@ MjrContextWrapper::MjWrapper(const MjModelWrapper& model, int fontscale)
       X(auxFBO_r),
       X(auxColor),
       X(auxColor_r),
+      X(mat_texid),
+      X(mat_texuniform),
+      X(mat_texrepeat),
       X(textureType),
       X(texture),
       X_SKIN(skinvertVBO),
@@ -238,6 +247,9 @@ PYBIND11_MODULE(_render, pymodule) {
   X(auxFBO_r);
   X(auxColor);
   X(auxColor_r);
+  X(mat_texid);
+  X(mat_texuniform);
+  X(mat_texrepeat);
   X(textureType);
   X(texture);
   X(skinvertVBO);

python/mujoco/structs.cc

@@ -1078,7 +1078,6 @@ MjvGLCameraWrapper::MjWrapper(const MjvGLCameraWrapper& other)
 #define X(var) var(InitPyArray(ptr_->var, owner_))
 MjvGeomWrapper::MjWrapper()
     : WrapperBase(new raw::MjvGeom{}),
-      X(texrepeat),
       X(size),
       X(pos),
       mat([this]() {
@@ -1091,7 +1090,6 @@ MjvGeomWrapper::MjWrapper()
 
 MjvGeomWrapper::MjWrapper(raw::MjvGeom* ptr, py::handle owner)
     : WrapperBase(ptr, owner),
-      X(texrepeat),
       X(size),
       X(pos),
       mat([this]() {
@@ -2214,8 +2212,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(objtype);
   X(objid);
   X(category);
-  X(texid);
-  X(texuniform);
+  X(matid);
   X(texcoord);
   X(segid);
   X(emission);
@@ -2228,7 +2225,6 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 #undef X
 
 #define X(var) DefinePyArray(mjvGeom, #var, &MjvGeomWrapper::var)
-  X(texrepeat);
   X(size);
   X(pos);
   X(mat);

python/mujoco/structs.h

@@ -734,7 +734,7 @@ class MjWrapper<raw::MjvGeom> : public WrapperBase<raw::MjvGeom> {
     py_array_or_tuple_t<                                        \
         std::remove_all_extents_t<decltype(raw::MjvGeom::var)>> \
         var
-  X(texrepeat);
+  X(matid);
   X(size);
   X(pos);
   X(mat);

python/mujoco/usd/component.py

@@ -258,17 +258,10 @@ class USDPrimitiveMesh:
 
     assert self.prim_mesh
 
-    x_scale, y_scale = self.geom.texrepeat
-
     mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
     mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
 
-    x_multiplier, y_multiplier = 1, 1
-    if self.geom.texuniform:
-      x_multiplier, y_multiplier = self.geom.size[:2]
-
-    mesh_texcoord[:, 0] *= x_scale * x_multiplier
-    mesh_texcoord[:, 1] *= y_scale * y_multiplier
+    # TODO(etom): bring back support for rescaling the texture coordinates.
 
     return mesh_texcoord, mesh_facetexcoord.flatten()
 

python/mujoco/usd/exporter.py

@@ -232,7 +232,11 @@ class USDExporter:
     geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
     assert geom_name not in self.geom_name2usd
 
-    texture_file = self.texture_files[geom.texid] if geom.texid != -1 else None
+    texture_file = (
+        self.texture_files[self.model.mat_texid[geom.matid]]
+        if geom.matid != -1
+        else None
+    )
 
     # handles meshes in scene
     if geom.type == mujoco.mjtGeom.mjGEOM_MESH:

src/engine/engine_vis_visualize.c

@@ -302,21 +302,13 @@ static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float*
                         const mjtByte* flags) {
   // set material properties if given
   if (matid >= 0) {
-    f2f(geom->texrepeat, m->mat_texrepeat + 2*matid, 2);
     f2f(geom->rgba, m->mat_rgba + 4*matid, 4);
-    geom->texuniform = m->mat_texuniform[matid];
     geom->emission = m->mat_emission[matid];
     geom->specular = m->mat_specular[matid];
     geom->shininess = m->mat_shininess[matid];
     geom->reflectance = m->mat_reflectance[matid];
   }
 
-  // otherwise clear texrepeat
-  else {
-    geom->texrepeat[0] = 0;
-    geom->texrepeat[1] = 0;
-  }
-
   // use rgba if different from default, or no material given
   if (rgba[0] != 0.5f || rgba[1] != 0.5f || rgba[2] != 0.5f || rgba[3] != 1.0f || matid < 0) {
     f2f(geom->rgba, rgba, 4);
@@ -324,7 +316,7 @@ static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float*
 
   // set texture
   if (flags[mjVIS_TEXTURE] && matid >= 0) {
-    geom->texid = m->mat_texid[matid];
+    geom->matid = matid;
   }
 
   // scale alpha for dynamic geoms only
@@ -458,11 +450,8 @@ void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
 
   // set defaults that cannot be assigned via this function
   geom->dataid       = -1;
-  geom->texid        = -1;
-  geom->texuniform   = 0;
+  geom->matid        = -1;
   geom->texcoord     = 0;
-  geom->texrepeat[0] = 1;
-  geom->texrepeat[1] = 1;
   geom->emission     = 0;
   geom->specular     = 0.5;
   geom->shininess    = 0.5;
@@ -571,7 +560,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           thisgeom->texcoord = 1;
         }
         else {
-          thisgeom->texid = -1;
+          thisgeom->matid = -1;
         }
 
         // glow flex if selected

src/render/render_context.c

@@ -1294,6 +1294,37 @@ static void makeFont(mjrContext* con, int fontscale) {
   }
 }
 
+// make materials, just for those that have textures
+static void makeMaterial(const mjModel* m, mjrContext* con) {
+  memset(con->mat_texid, -1, sizeof(con->mat_texid));
+  memset(con->mat_texuniform, 0, sizeof(con->mat_texuniform));
+  memset(con->mat_texrepeat, 0, sizeof(con->mat_texrepeat));
+  if (!m->nmat || !m->ntex) {
+    return;
+  }
+
+  if (m->nmat >= mjMAXMATERIAL-1) {
+    mju_error("Maximum number of materials is %d", mjMAXMATERIAL);
+  }
+  for (int i=0; i < m->nmat; i++) {
+    if (m->mat_texid[i] >= 0) {
+      con->mat_texid[i*mjNTEXMAT] = m->mat_texid[i];
+      con->mat_texuniform[i] = m->mat_texuniform[i];
+      con->mat_texrepeat[2*i] = m->mat_texrepeat[2*i];
+      con->mat_texrepeat[2*i+1] = m->mat_texrepeat[2*i+1];
+    }
+  }
+  // find skybox texture
+  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);
+      }
+      con->mat_texid[mjNTEXMAT * (mjMAXMATERIAL-1)] = i;
+      break;
+    }
+  }
+}
 
 
 // make textures
@@ -1585,6 +1616,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
   // make everything
   makeOff(con);
   makeShadow(m, con);
+  makeMaterial(m, con);
   makeTexture(m, con);
   makePlane(m, con);
   makeMesh(m, con);

src/render/render_gl3.c

@@ -61,6 +61,10 @@ enum {
 // enable/disable texture mapping
 static void settexture(int type, int state, const mjrContext* con, const mjvGeom* geom) {
   float plane[4], scl[2];
+  int texid = -1;
+  if (geom) {
+    texid = (geom->matid == -1) ? -1 : con->mat_texid[mjNTEXMAT * geom->matid];
+  }
 
   // shadow
   if (type == mjtexSHADOW) {
@@ -92,7 +96,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
     if (state) {
       glActiveTexture(GL_TEXTURE0);
       glEnable(GL_TEXTURE_2D);
-      glBindTexture(GL_TEXTURE_2D, con->texture[geom->texid]);
+      glBindTexture(GL_TEXTURE_2D, con->texture[texid]);
     }
 
     // disable
@@ -103,18 +107,18 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
   }
 
   // 2D
-  else if (type == mjtexREGULAR && con->textureType[geom->texid] == mjTEXTURE_2D) {
+  else if (type == mjtexREGULAR && con->textureType[texid] == mjTEXTURE_2D) {
     // enable
     if (state) {
       glActiveTexture(GL_TEXTURE0);
       glEnable(GL_TEXTURE_2D);
       glEnable(GL_TEXTURE_GEN_S);
       glEnable(GL_TEXTURE_GEN_T);
-      glBindTexture(GL_TEXTURE_2D, con->texture[geom->texid]);
+      glBindTexture(GL_TEXTURE_2D, con->texture[texid]);
 
       // determine scaling, adjust for pre-scaled geoms
-      scl[0] = geom->texrepeat[0];
-      scl[1] = geom->texrepeat[1];
+      scl[0] = con->mat_texrepeat[geom->matid*2];
+      scl[1] = con->mat_texrepeat[geom->matid*2+1];
       if (geom->dataid >= 0) {
         if (geom->size[0] > 0) {
           scl[0] = scl[0] / mju_max(mjMINVAL, geom->size[0]);
@@ -126,7 +130,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
       }
 
       // uniform: repeat relative to spatial units rather than object
-      if (geom->texuniform) {
+      if (con->mat_texuniform[geom->matid]) {
         if (geom->size[0] > 0) {
           scl[0] = scl[0] * geom->size[0];
         }
@@ -161,15 +165,15 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
       glEnable(GL_TEXTURE_GEN_S);
       glEnable(GL_TEXTURE_GEN_T);
       glEnable(GL_TEXTURE_GEN_R);
-      glBindTexture(GL_TEXTURE_CUBE_MAP, con->texture[geom->texid]);
+      glBindTexture(GL_TEXTURE_CUBE_MAP, con->texture[texid]);
 
       // set mapping : cube
       if (type == mjtexREGULAR) {
-        mjr_setf4(plane, geom->texuniform ? geom->size[0] : 1, 0, 0, 0);
+        mjr_setf4(plane, con->mat_texuniform[geom->matid] ? geom->size[0] : 1, 0, 0, 0);
         glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
-        mjr_setf4(plane, 0, geom->texuniform ? geom->size[1] : 1, 0, 0);
+        mjr_setf4(plane, 0, con->mat_texuniform[geom->matid] ? geom->size[1] : 1, 0, 0);
         glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
-        mjr_setf4(plane, 0, 0, geom->texuniform ? geom->size[2] : 1, 0);
+        mjr_setf4(plane, 0, 0, con->mat_texuniform[geom->matid] ? geom->size[2] : 1, 0);
         glTexGenfv(GL_R, GL_OBJECT_PLANE, plane);
       }
 
@@ -232,7 +236,7 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
   behind = isBehind(headpos, geom->pos, geom->mat);
 
   // enable texture in normal and shadowmap mode
-  if (geom->texid >= 0 && con->ntexture > 0 &&
+  if (geom->matid >= 0 &&
       (mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
     settexture(mjtexREGULAR, 1, con, geom);
   }
@@ -515,14 +519,14 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
       glEnableClientState(GL_NORMAL_ARRAY);
       glVertexPointer(3, GL_FLOAT, 0, scn->flexface + 9*scn->flexfaceadr[geom->objid]);
       glNormalPointer(GL_FLOAT, 0, scn->flexnormal + 9*scn->flexfaceadr[geom->objid]);
-      if (geom->texcoord && geom->texid>=0) {
+      if (geom->texcoord && geom->matid>=0) {
         glEnableClientState(GL_TEXTURE_COORD_ARRAY);
         glTexCoordPointer(2, GL_FLOAT, 0, scn->flextexcoord + 6*scn->flexfaceadr[geom->objid]);
       }
       glDrawArrays(GL_TRIANGLES, 0, 3*scn->flexfaceused[geom->objid]);
       glDisableClientState(GL_VERTEX_ARRAY);
       glDisableClientState(GL_NORMAL_ARRAY);
-      if (geom->texcoord && geom->texid>=0) {
+      if (geom->texcoord && geom->matid>=0) {
         glDisableClientState(GL_TEXTURE_COORD_ARRAY);
       }
     }
@@ -568,7 +572,7 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
   glPopMatrix();
 
   // disable texture if enabled
-  if (geom->texid >= 0 && con->ntexture > 0 &&
+  if (geom->matid >= 0 &&
       (mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
     settexture(mjtexREGULAR, 0, con, geom);
   }
@@ -1268,7 +1272,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
         if (con->textureType[i] == mjTEXTURE_SKYBOX) {
           // save first skybox texture id in tempgeom
           memset(&tempgeom, 0, sizeof(mjvGeom));
-          tempgeom.texid = i;
+          tempgeom.matid = mjMAXMATERIAL - 1;
 
           // modify settings
           glDisable(GL_LIGHTING);

unity/Runtime/Bindings/MjBindings.cs

@@ -52,11 +52,13 @@ public const int mjNREF = 2;
 public const int mjNIMP = 5;
 public const int mjNSOLVER = 200;
 public const int mjNISLAND = 20;
+public const int mjNTEXMAT = 6;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true;
 public const bool mjEXTERNC = true;
 public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
 public const int mjNAUX = 10;
-public const int mjMAXTEXTURE = 1000;
+public const int mjMAXTEXTURE = 100;
+public const int mjMAXMATERIAL = 100;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
 public const int mjMAXTHREAD = 128;
@@ -5634,6 +5636,9 @@ public unsafe struct mjrContext_ {
   public fixed uint auxFBO_r[10];
   public fixed uint auxColor[10];
   public fixed uint auxColor_r[10];
+  public fixed int mat_texid[600];
+  public fixed int mat_texuniform[100];
+  public fixed int mat_texrepeat[200];
   public int ntexture;
   public fixed int textureType[100];
   public fixed uint texture[100];
@@ -5901,11 +5906,9 @@ public unsafe struct mjvGeom_ {
   public int objtype;
   public int objid;
   public int category;
-  public int texid;
-  public int texuniform;
+  public int matid;
   public int texcoord;
   public int segid;
-  public fixed float texrepeat[2];
   public fixed float size[3];
   public fixed float pos[3];
   public fixed float mat[9];