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

PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc

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)