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

PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc

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: