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

PiperOrigin-RevId: 648719103 Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
2024-07-02 08:00:06 -07:00
parent af3233f98d
commit 3b73dfe33b
14 changed files with 252 additions and 195 deletions
@@ -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)