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

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PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
This commit is contained in:
Tom Erez
2024-07-02 08:00:06 -07:00
committed by Copybara-Service
parent af3233f98d
commit 3b73dfe33b
14 changed files with 252 additions and 195 deletions
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unity/Runtime/Bindings/MjBindings.cs
+7 -4
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@@ -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];