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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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doc/includes/references.h
+69 -63
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@@ -1512,92 +1512,97 @@ struct mjrRect_ { // OpenGL rectangle
int height; // height (usually buffer height) int height; // height (usually buffer height)
}; };
typedef struct mjrRect_ mjrRect; typedef struct mjrRect_ mjrRect;
struct mjrContext_ { // custom OpenGL context struct mjrContext_ { // custom OpenGL context
// parameters copied from mjVisual // parameters copied from mjVisual
float lineWidth; // line width for wireframe rendering float lineWidth; // line width for wireframe rendering
float shadowClip; // clipping radius for directional lights float shadowClip; // clipping radius for directional lights
float shadowScale; // fraction of light cutoff for spot lights float shadowScale; // fraction of light cutoff for spot lights
float fogStart; // fog start = stat.extent * vis.map.fogstart float fogStart; // fog start = stat.extent * vis.map.fogstart
float fogEnd; // fog end = stat.extent * vis.map.fogend float fogEnd; // fog end = stat.extent * vis.map.fogend
float fogRGBA[4]; // fog rgba float fogRGBA[4]; // fog rgba
int shadowSize; // size of shadow map texture int shadowSize; // size of shadow map texture
int offWidth; // width of offscreen buffer int offWidth; // width of offscreen buffer
int offHeight; // height of offscreen buffer int offHeight; // height of offscreen buffer
int offSamples; // number of offscreen buffer multisamples int offSamples; // number of offscreen buffer multisamples
// parameters specified at creation // parameters specified at creation
int fontScale; // font scale int fontScale; // font scale
int auxWidth[mjNAUX]; // auxiliary buffer width int auxWidth[mjNAUX]; // auxiliary buffer width
int auxHeight[mjNAUX]; // auxiliary buffer height int auxHeight[mjNAUX]; // auxiliary buffer height
int auxSamples[mjNAUX]; // auxiliary buffer multisamples int auxSamples[mjNAUX]; // auxiliary buffer multisamples
// offscreen rendering objects // offscreen rendering objects
unsigned int offFBO; // offscreen framebuffer object unsigned int offFBO; // offscreen framebuffer object
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
unsigned int offColor; // offscreen color buffer unsigned int offColor; // offscreen color buffer
unsigned int offColor_r; // offscreen color buffer for resolving multisamples unsigned int offColor_r; // offscreen color buffer for resolving multisamples
unsigned int offDepthStencil; // offscreen depth and stencil buffer unsigned int offDepthStencil; // offscreen depth and stencil buffer
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for multisamples
// shadow rendering objects // shadow rendering objects
unsigned int shadowFBO; // shadow map framebuffer object unsigned int shadowFBO; // shadow map framebuffer object
unsigned int shadowTex; // shadow map texture unsigned int shadowTex; // shadow map texture
// auxiliary buffers // auxiliary buffers
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
unsigned int auxColor[mjNAUX]; // auxiliary color buffer unsigned int auxColor[mjNAUX]; // auxiliary color buffer
unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving 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 // texture objects and info
int ntexture; // number of allocated textures int ntexture; // number of allocated textures
int textureType[100]; // type of texture (mjtTexture) (ntexture) int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[100]; // texture names unsigned int texture[mjMAXTEXTURE]; // texture names
// displaylist starting positions // displaylist starting positions
unsigned int basePlane; // all planes from model unsigned int basePlane; // all planes from model
unsigned int baseMesh; // all meshes from model unsigned int baseMesh; // all meshes from model
unsigned int baseHField; // all hfields from model unsigned int baseHField; // all height fields from model
unsigned int baseBuiltin; // all buildin geoms, with quality from model unsigned int baseBuiltin; // all builtin geoms, with quality from model
unsigned int baseFontNormal; // normal font unsigned int baseFontNormal; // normal font
unsigned int baseFontShadow; // shadow font unsigned int baseFontShadow; // shadow font
unsigned int baseFontBig; // big font unsigned int baseFontBig; // big font
// displaylist ranges // displaylist ranges
int rangePlane; // all planes from model int rangePlane; // all planes from model
int rangeMesh; // all meshes from model int rangeMesh; // all meshes from model
int rangeHField; // all hfields from model int rangeHField; // all hfields from model
int rangeBuiltin; // all builtin geoms, with quality from model int rangeBuiltin; // all builtin geoms, with quality from model
int rangeFont; // all characters in font int rangeFont; // all characters in font
// skin VBOs // skin VBOs
int nskin; // number of skins int nskin; // number of skins
unsigned int* skinvertVBO; // skin vertex position VBOs (nskin) unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin) unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin) unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
unsigned int* skinfaceVBO; // skin face index VBOs (nskin) unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
// character info // character info
int charWidth[127]; // character widths: normal and shadow int charWidth[127]; // character widths: normal and shadow
int charWidthBig[127]; // chacarter widths: big int charWidthBig[127]; // chacarter widths: big
int charHeight; // character heights: normal and shadow int charHeight; // character heights: normal and shadow
int charHeightBig; // character heights: big int charHeightBig; // character heights: big
// capabilities // capabilities
int glInitialized; // is OpenGL initialized int glInitialized; // is OpenGL initialized
int windowAvailable; // is default/window framebuffer available int windowAvailable; // is default/window framebuffer available
int windowSamples; // number of samples for default/window framebuffer int windowSamples; // number of samples for default/window framebuffer
int windowStereo; // is stereo available for default/window framebuffer int windowStereo; // is stereo available for default/window framebuffer
int windowDoublebuffer; // is default/window framebuffer double buffered int windowDoublebuffer; // is default/window framebuffer double buffered
// framebuffer // framebuffer
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
// pixel output format // pixel output format
int readPixelFormat; // default color pixel format for mjr_readPixels int readPixelFormat; // default color pixel format for mjr_readPixels
// depth output format // 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 struct mjrContext_ mjrContext;
typedef enum mjtGeomInertia_ { // type of inertia inference 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 objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
int objid; // mujoco object id; -1 for decor int objid; // mujoco object id; -1 for decor
int category; // visual category int category; // visual category
int texid; // texture id; -1: no texture int matid; // material id; -1: no textured material
int texuniform; // uniform cube mapping
int texcoord; // mesh or flex geom has texture coordinates int texcoord; // mesh or flex geom has texture coordinates
int segid; // segmentation id; -1: not shown int segid; // segmentation id; -1: not shown
// OpenGL info // spatial transform
float texrepeat[2]; // texture repetition for 2D mapping
float size[3]; // size parameters float size[3]; // size parameters
float pos[3]; // Cartesian position float pos[3]; // Cartesian position
float mat[9]; // Cartesian orientation float mat[9]; // Cartesian orientation
// material properties
float rgba[4]; // color and transparency float rgba[4]; // color and transparency
float emission; // emission coef float emission; // emission coef
float specular; // specular coef float specular; // specular coef
float shininess; // shininess coef float shininess; // shininess coef
float reflectance; // reflectance coef float reflectance; // reflectance coef
char label[100]; // text label char label[100]; // text label
// transparency rendering (set internally) // transparency rendering (set internally)
include/mujoco/mjmodel.h
+1 -1
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@@ -44,7 +44,7 @@
#define mjNIMP 5 // number of solver impedance parameters #define mjNIMP 5 // number of solver impedance parameters
#define mjNSOLVER 200 // size of one mjData.solver array #define mjNSOLVER 200 // size of one mjData.solver array
#define mjNISLAND 20 // number of mjData.solver arrays #define mjNISLAND 20 // number of mjData.solver arrays
#define mjNTEXMAT 6 // number of textures per material
//---------------------------------- enum types (mjt) ---------------------------------------------- //---------------------------------- enum types (mjt) ----------------------------------------------
include/mujoco/mjrender.h
+67 -61
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@@ -15,14 +15,15 @@
#ifndef MUJOCO_MJRENDER_H_ #ifndef MUJOCO_MJRENDER_H_
#define MUJOCO_MJRENDER_H_ #define MUJOCO_MJRENDER_H_
#include <mujoco/mjmodel.h>
#if defined(__cplusplus) #if defined(__cplusplus)
extern "C" { extern "C" {
#endif #endif
#define mjNAUX 10 // number of auxiliary buffers #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) ----------------------------------------- //---------------------------------- primitive types (mjt) -----------------------------------------
@@ -76,92 +77,97 @@ typedef struct mjrRect_ mjrRect;
//---------------------------------- mjrContext ---------------------------------------------------- //---------------------------------- mjrContext ----------------------------------------------------
struct mjrContext_ { // custom OpenGL context struct mjrContext_ { // custom OpenGL context
// parameters copied from mjVisual // parameters copied from mjVisual
float lineWidth; // line width for wireframe rendering float lineWidth; // line width for wireframe rendering
float shadowClip; // clipping radius for directional lights float shadowClip; // clipping radius for directional lights
float shadowScale; // fraction of light cutoff for spot lights float shadowScale; // fraction of light cutoff for spot lights
float fogStart; // fog start = stat.extent * vis.map.fogstart float fogStart; // fog start = stat.extent * vis.map.fogstart
float fogEnd; // fog end = stat.extent * vis.map.fogend float fogEnd; // fog end = stat.extent * vis.map.fogend
float fogRGBA[4]; // fog rgba float fogRGBA[4]; // fog rgba
int shadowSize; // size of shadow map texture int shadowSize; // size of shadow map texture
int offWidth; // width of offscreen buffer int offWidth; // width of offscreen buffer
int offHeight; // height of offscreen buffer int offHeight; // height of offscreen buffer
int offSamples; // number of offscreen buffer multisamples int offSamples; // number of offscreen buffer multisamples
// parameters specified at creation // parameters specified at creation
int fontScale; // font scale int fontScale; // font scale
int auxWidth[mjNAUX]; // auxiliary buffer width int auxWidth[mjNAUX]; // auxiliary buffer width
int auxHeight[mjNAUX]; // auxiliary buffer height int auxHeight[mjNAUX]; // auxiliary buffer height
int auxSamples[mjNAUX]; // auxiliary buffer multisamples int auxSamples[mjNAUX]; // auxiliary buffer multisamples
// offscreen rendering objects // offscreen rendering objects
unsigned int offFBO; // offscreen framebuffer object unsigned int offFBO; // offscreen framebuffer object
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
unsigned int offColor; // offscreen color buffer unsigned int offColor; // offscreen color buffer
unsigned int offColor_r; // offscreen color buffer for resolving multisamples unsigned int offColor_r; // offscreen color buffer for resolving multisamples
unsigned int offDepthStencil; // offscreen depth and stencil buffer unsigned int offDepthStencil; // offscreen depth and stencil buffer
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for multisamples
// shadow rendering objects // shadow rendering objects
unsigned int shadowFBO; // shadow map framebuffer object unsigned int shadowFBO; // shadow map framebuffer object
unsigned int shadowTex; // shadow map texture unsigned int shadowTex; // shadow map texture
// auxiliary buffers // auxiliary buffers
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
unsigned int auxColor[mjNAUX]; // auxiliary color buffer unsigned int auxColor[mjNAUX]; // auxiliary color buffer
unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving 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 // texture objects and info
int ntexture; // number of allocated textures int ntexture; // number of allocated textures
int textureType[100]; // type of texture (mjtTexture) (ntexture) int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[100]; // texture names unsigned int texture[mjMAXTEXTURE]; // texture names
// displaylist starting positions // displaylist starting positions
unsigned int basePlane; // all planes from model unsigned int basePlane; // all planes from model
unsigned int baseMesh; // all meshes from model unsigned int baseMesh; // all meshes from model
unsigned int baseHField; // all hfields from model unsigned int baseHField; // all height fields from model
unsigned int baseBuiltin; // all buildin geoms, with quality from model unsigned int baseBuiltin; // all builtin geoms, with quality from model
unsigned int baseFontNormal; // normal font unsigned int baseFontNormal; // normal font
unsigned int baseFontShadow; // shadow font unsigned int baseFontShadow; // shadow font
unsigned int baseFontBig; // big font unsigned int baseFontBig; // big font
// displaylist ranges // displaylist ranges
int rangePlane; // all planes from model int rangePlane; // all planes from model
int rangeMesh; // all meshes from model int rangeMesh; // all meshes from model
int rangeHField; // all hfields from model int rangeHField; // all hfields from model
int rangeBuiltin; // all builtin geoms, with quality from model int rangeBuiltin; // all builtin geoms, with quality from model
int rangeFont; // all characters in font int rangeFont; // all characters in font
// skin VBOs // skin VBOs
int nskin; // number of skins int nskin; // number of skins
unsigned int* skinvertVBO; // skin vertex position VBOs (nskin) unsigned int* skinvertVBO; // skin vertex position VBOs (nskin)
unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin) unsigned int* skinnormalVBO; // skin vertex normal VBOs (nskin)
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin) unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs (nskin)
unsigned int* skinfaceVBO; // skin face index VBOs (nskin) unsigned int* skinfaceVBO; // skin face index VBOs (nskin)
// character info // character info
int charWidth[127]; // character widths: normal and shadow int charWidth[127]; // character widths: normal and shadow
int charWidthBig[127]; // chacarter widths: big int charWidthBig[127]; // chacarter widths: big
int charHeight; // character heights: normal and shadow int charHeight; // character heights: normal and shadow
int charHeightBig; // character heights: big int charHeightBig; // character heights: big
// capabilities // capabilities
int glInitialized; // is OpenGL initialized int glInitialized; // is OpenGL initialized
int windowAvailable; // is default/window framebuffer available int windowAvailable; // is default/window framebuffer available
int windowSamples; // number of samples for default/window framebuffer int windowSamples; // number of samples for default/window framebuffer
int windowStereo; // is stereo available for default/window framebuffer int windowStereo; // is stereo available for default/window framebuffer
int windowDoublebuffer; // is default/window framebuffer double buffered int windowDoublebuffer; // is default/window framebuffer double buffered
// framebuffer // framebuffer
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
// pixel output format // pixel output format
int readPixelFormat; // default color pixel format for mjr_readPixels int readPixelFormat; // default color pixel format for mjr_readPixels
// depth output format // 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 struct mjrContext_ mjrContext;
include/mujoco/mjvisualize.h
+5 -4
View File
@@ -230,21 +230,22 @@ struct mjvGeom_ { // abstract geom
int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor int objtype; // mujoco object type; mjOBJ_UNKNOWN for decor
int objid; // mujoco object id; -1 for decor int objid; // mujoco object id; -1 for decor
int category; // visual category int category; // visual category
int texid; // texture id; -1: no texture int matid; // material id; -1: no textured material
int texuniform; // uniform cube mapping
int texcoord; // mesh or flex geom has texture coordinates int texcoord; // mesh or flex geom has texture coordinates
int segid; // segmentation id; -1: not shown int segid; // segmentation id; -1: not shown
// OpenGL info // spatial transform
float texrepeat[2]; // texture repetition for 2D mapping
float size[3]; // size parameters float size[3]; // size parameters
float pos[3]; // Cartesian position float pos[3]; // Cartesian position
float mat[9]; // Cartesian orientation float mat[9]; // Cartesian orientation
// material properties
float rgba[4]; // color and transparency float rgba[4]; // color and transparency
float emission; // emission coef float emission; // emission coef
float specular; // specular coef float specular; // specular coef
float shininess; // shininess coef float shininess; // shininess coef
float reflectance; // reflectance coef float reflectance; // reflectance coef
char label[100]; // text label char label[100]; // text label
// transparency rendering (set internally) // transparency rendering (set internally)
introspect/structs.py
+29 -18
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@@ -5483,14 +5483,9 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='visual category', doc='visual category',
), ),
StructFieldDecl( StructFieldDecl(
name='texid', name='matid',
type=ValueType(name='int'), type=ValueType(name='int'),
doc='texture id; -1: no texture', doc='material id; -1: no textured material',
),
StructFieldDecl(
name='texuniform',
type=ValueType(name='int'),
doc='uniform cube mapping',
), ),
StructFieldDecl( StructFieldDecl(
name='texcoord', name='texcoord',
@@ -5502,14 +5497,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'), type=ValueType(name='int'),
doc='segmentation id; -1: not shown', 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( StructFieldDecl(
name='size', name='size',
type=ArrayType( type=ArrayType(
@@ -7957,7 +7944,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl( StructFieldDecl(
name='offDepthStencil_r', name='offDepthStencil_r',
type=ValueType(name='unsigned int'), 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( StructFieldDecl(
name='shadowFBO', name='shadowFBO',
@@ -8001,6 +7988,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
), ),
doc='auxiliary color buffer for resolving', 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( StructFieldDecl(
name='ntexture', name='ntexture',
type=ValueType(name='int'), type=ValueType(name='int'),
@@ -8035,12 +8046,12 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl( StructFieldDecl(
name='baseHField', name='baseHField',
type=ValueType(name='unsigned int'), type=ValueType(name='unsigned int'),
doc='all hfields from model', doc='all height fields from model',
), ),
StructFieldDecl( StructFieldDecl(
name='baseBuiltin', name='baseBuiltin',
type=ValueType(name='unsigned int'), type=ValueType(name='unsigned int'),
doc='all buildin geoms, with quality from model', doc='all builtin geoms, with quality from model',
), ),
StructFieldDecl( StructFieldDecl(
name='baseFontNormal', name='baseFontNormal',
python/mujoco/render.cc
+12
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@@ -54,6 +54,9 @@ class MjWrapper<raw::MjrContext> : public WrapperBase<raw::MjrContext> {
X(auxFBO_r); X(auxFBO_r);
X(auxColor); X(auxColor);
X(auxColor_r); X(auxColor_r);
X(mat_texid);
X(mat_texuniform);
X(mat_texrepeat);
X(textureType); X(textureType);
X(texture); X(texture);
X(skinvertVBO); X(skinvertVBO);
@@ -95,6 +98,9 @@ MjrContextWrapper::MjWrapper()
X(auxFBO_r), X(auxFBO_r),
X(auxColor), X(auxColor),
X(auxColor_r), X(auxColor_r),
X(mat_texid),
X(mat_texuniform),
X(mat_texrepeat),
X(textureType), X(textureType),
X(texture), X(texture),
X_SKIN(skinvertVBO), X_SKIN(skinvertVBO),
@@ -119,6 +125,9 @@ MjrContextWrapper::MjWrapper(const MjModelWrapper& model, int fontscale)
X(auxFBO_r), X(auxFBO_r),
X(auxColor), X(auxColor),
X(auxColor_r), X(auxColor_r),
X(mat_texid),
X(mat_texuniform),
X(mat_texrepeat),
X(textureType), X(textureType),
X(texture), X(texture),
X_SKIN(skinvertVBO), X_SKIN(skinvertVBO),
@@ -238,6 +247,9 @@ PYBIND11_MODULE(_render, pymodule) {
X(auxFBO_r); X(auxFBO_r);
X(auxColor); X(auxColor);
X(auxColor_r); X(auxColor_r);
X(mat_texid);
X(mat_texuniform);
X(mat_texrepeat);
X(textureType); X(textureType);
X(texture); X(texture);
X(skinvertVBO); X(skinvertVBO);
python/mujoco/structs.cc
+1 -5
View File
@@ -1078,7 +1078,6 @@ MjvGLCameraWrapper::MjWrapper(const MjvGLCameraWrapper& other)
#define X(var) var(InitPyArray(ptr_->var, owner_)) #define X(var) var(InitPyArray(ptr_->var, owner_))
MjvGeomWrapper::MjWrapper() MjvGeomWrapper::MjWrapper()
: WrapperBase(new raw::MjvGeom{}), : WrapperBase(new raw::MjvGeom{}),
X(texrepeat),
X(size), X(size),
X(pos), X(pos),
mat([this]() { mat([this]() {
@@ -1091,7 +1090,6 @@ MjvGeomWrapper::MjWrapper()
MjvGeomWrapper::MjWrapper(raw::MjvGeom* ptr, py::handle owner) MjvGeomWrapper::MjWrapper(raw::MjvGeom* ptr, py::handle owner)
: WrapperBase(ptr, owner), : WrapperBase(ptr, owner),
X(texrepeat),
X(size), X(size),
X(pos), X(pos),
mat([this]() { 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(objtype);
X(objid); X(objid);
X(category); X(category);
X(texid); X(matid);
X(texuniform);
X(texcoord); X(texcoord);
X(segid); X(segid);
X(emission); X(emission);
@@ -2228,7 +2225,6 @@ This is useful for example when the MJB is not available as a file on disk.)"));
#undef X #undef X
#define X(var) DefinePyArray(mjvGeom, #var, &MjvGeomWrapper::var) #define X(var) DefinePyArray(mjvGeom, #var, &MjvGeomWrapper::var)
X(texrepeat);
X(size); X(size);
X(pos); X(pos);
X(mat); X(mat);
python/mujoco/structs.h
+1 -1
View File
@@ -734,7 +734,7 @@ class MjWrapper<raw::MjvGeom> : public WrapperBase<raw::MjvGeom> {
py_array_or_tuple_t< \ py_array_or_tuple_t< \
std::remove_all_extents_t<decltype(raw::MjvGeom::var)>> \ std::remove_all_extents_t<decltype(raw::MjvGeom::var)>> \
var var
X(texrepeat); X(matid);
X(size); X(size);
X(pos); X(pos);
X(mat); X(mat);
python/mujoco/usd/component.py
+1 -8
View File
@@ -258,17 +258,10 @@ class USDPrimitiveMesh:
assert self.prim_mesh assert self.prim_mesh
x_scale, y_scale = self.geom.texrepeat
mesh_texcoord = np.array(self.prim_mesh.triangle_uvs) mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
mesh_facetexcoord = np.asarray(self.prim_mesh.triangles) mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
x_multiplier, y_multiplier = 1, 1 # TODO(etom): bring back support for rescaling the texture coordinates.
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
return mesh_texcoord, mesh_facetexcoord.flatten() return mesh_texcoord, mesh_facetexcoord.flatten()
python/mujoco/usd/exporter.py
+5 -1
View File
@@ -232,7 +232,11 @@ class USDExporter:
geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid) geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
assert geom_name not in self.geom_name2usd 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 # handles meshes in scene
if geom.type == mujoco.mjtGeom.mjGEOM_MESH: if geom.type == mujoco.mjtGeom.mjGEOM_MESH:
src/engine/engine_vis_visualize.c
+3 -14
View File
@@ -302,21 +302,13 @@ static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float*
const mjtByte* flags) { const mjtByte* flags) {
// set material properties if given // set material properties if given
if (matid >= 0) { if (matid >= 0) {
f2f(geom->texrepeat, m->mat_texrepeat + 2*matid, 2);
f2f(geom->rgba, m->mat_rgba + 4*matid, 4); f2f(geom->rgba, m->mat_rgba + 4*matid, 4);
geom->texuniform = m->mat_texuniform[matid];
geom->emission = m->mat_emission[matid]; geom->emission = m->mat_emission[matid];
geom->specular = m->mat_specular[matid]; geom->specular = m->mat_specular[matid];
geom->shininess = m->mat_shininess[matid]; geom->shininess = m->mat_shininess[matid];
geom->reflectance = m->mat_reflectance[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 // 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) { if (rgba[0] != 0.5f || rgba[1] != 0.5f || rgba[2] != 0.5f || rgba[3] != 1.0f || matid < 0) {
f2f(geom->rgba, rgba, 4); f2f(geom->rgba, rgba, 4);
@@ -324,7 +316,7 @@ static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float*
// set texture // set texture
if (flags[mjVIS_TEXTURE] && matid >= 0) { if (flags[mjVIS_TEXTURE] && matid >= 0) {
geom->texid = m->mat_texid[matid]; geom->matid = matid;
} }
// scale alpha for dynamic geoms only // 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 // set defaults that cannot be assigned via this function
geom->dataid = -1; geom->dataid = -1;
geom->texid = -1; geom->matid = -1;
geom->texuniform = 0;
geom->texcoord = 0; geom->texcoord = 0;
geom->texrepeat[0] = 1;
geom->texrepeat[1] = 1;
geom->emission = 0; geom->emission = 0;
geom->specular = 0.5; geom->specular = 0.5;
geom->shininess = 0.5; geom->shininess = 0.5;
@@ -571,7 +560,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
thisgeom->texcoord = 1; thisgeom->texcoord = 1;
} }
else { else {
thisgeom->texid = -1; thisgeom->matid = -1;
} }
// glow flex if selected // glow flex if selected
src/render/render_context.c
+32
View File
@@ -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 // make textures
@@ -1585,6 +1616,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
// make everything // make everything
makeOff(con); makeOff(con);
makeShadow(m, con); makeShadow(m, con);
makeMaterial(m, con);
makeTexture(m, con); makeTexture(m, con);
makePlane(m, con); makePlane(m, con);
makeMesh(m, con); makeMesh(m, con);
src/render/render_gl3.c
+19 -15
View File
@@ -61,6 +61,10 @@ enum {
// enable/disable texture mapping // enable/disable texture mapping
static void settexture(int type, int state, const mjrContext* con, const mjvGeom* geom) { static void settexture(int type, int state, const mjrContext* con, const mjvGeom* geom) {
float plane[4], scl[2]; float plane[4], scl[2];
int texid = -1;
if (geom) {
texid = (geom->matid == -1) ? -1 : con->mat_texid[mjNTEXMAT * geom->matid];
}
// shadow // shadow
if (type == mjtexSHADOW) { if (type == mjtexSHADOW) {
@@ -92,7 +96,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
if (state) { if (state) {
glActiveTexture(GL_TEXTURE0); glActiveTexture(GL_TEXTURE0);
glEnable(GL_TEXTURE_2D); glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, con->texture[geom->texid]); glBindTexture(GL_TEXTURE_2D, con->texture[texid]);
} }
// disable // disable
@@ -103,18 +107,18 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
} }
// 2D // 2D
else if (type == mjtexREGULAR && con->textureType[geom->texid] == mjTEXTURE_2D) { else if (type == mjtexREGULAR && con->textureType[texid] == mjTEXTURE_2D) {
// enable // enable
if (state) { if (state) {
glActiveTexture(GL_TEXTURE0); glActiveTexture(GL_TEXTURE0);
glEnable(GL_TEXTURE_2D); glEnable(GL_TEXTURE_2D);
glEnable(GL_TEXTURE_GEN_S); glEnable(GL_TEXTURE_GEN_S);
glEnable(GL_TEXTURE_GEN_T); 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 // determine scaling, adjust for pre-scaled geoms
scl[0] = geom->texrepeat[0]; scl[0] = con->mat_texrepeat[geom->matid*2];
scl[1] = geom->texrepeat[1]; scl[1] = con->mat_texrepeat[geom->matid*2+1];
if (geom->dataid >= 0) { if (geom->dataid >= 0) {
if (geom->size[0] > 0) { if (geom->size[0] > 0) {
scl[0] = scl[0] / mju_max(mjMINVAL, geom->size[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 // uniform: repeat relative to spatial units rather than object
if (geom->texuniform) { if (con->mat_texuniform[geom->matid]) {
if (geom->size[0] > 0) { if (geom->size[0] > 0) {
scl[0] = scl[0] * geom->size[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_S);
glEnable(GL_TEXTURE_GEN_T); glEnable(GL_TEXTURE_GEN_T);
glEnable(GL_TEXTURE_GEN_R); 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 // set mapping : cube
if (type == mjtexREGULAR) { 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); 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); 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); 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); behind = isBehind(headpos, geom->pos, geom->mat);
// enable texture in normal and shadowmap mode // enable texture in normal and shadowmap mode
if (geom->texid >= 0 && con->ntexture > 0 && if (geom->matid >= 0 &&
(mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) { (mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
settexture(mjtexREGULAR, 1, con, geom); settexture(mjtexREGULAR, 1, con, geom);
} }
@@ -515,14 +519,14 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
glEnableClientState(GL_NORMAL_ARRAY); glEnableClientState(GL_NORMAL_ARRAY);
glVertexPointer(3, GL_FLOAT, 0, scn->flexface + 9*scn->flexfaceadr[geom->objid]); glVertexPointer(3, GL_FLOAT, 0, scn->flexface + 9*scn->flexfaceadr[geom->objid]);
glNormalPointer(GL_FLOAT, 0, scn->flexnormal + 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); glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glTexCoordPointer(2, GL_FLOAT, 0, scn->flextexcoord + 6*scn->flexfaceadr[geom->objid]); glTexCoordPointer(2, GL_FLOAT, 0, scn->flextexcoord + 6*scn->flexfaceadr[geom->objid]);
} }
glDrawArrays(GL_TRIANGLES, 0, 3*scn->flexfaceused[geom->objid]); glDrawArrays(GL_TRIANGLES, 0, 3*scn->flexfaceused[geom->objid]);
glDisableClientState(GL_VERTEX_ARRAY); glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY); glDisableClientState(GL_NORMAL_ARRAY);
if (geom->texcoord && geom->texid>=0) { if (geom->texcoord && geom->matid>=0) {
glDisableClientState(GL_TEXTURE_COORD_ARRAY); glDisableClientState(GL_TEXTURE_COORD_ARRAY);
} }
} }
@@ -568,7 +572,7 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
glPopMatrix(); glPopMatrix();
// disable texture if enabled // disable texture if enabled
if (geom->texid >= 0 && con->ntexture > 0 && if (geom->matid >= 0 &&
(mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) { (mode == mjrRND_NORMAL || mode == mjrRND_SHADOWMAP)) {
settexture(mjtexREGULAR, 0, con, geom); 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) { if (con->textureType[i] == mjTEXTURE_SKYBOX) {
// save first skybox texture id in tempgeom // save first skybox texture id in tempgeom
memset(&tempgeom, 0, sizeof(mjvGeom)); memset(&tempgeom, 0, sizeof(mjvGeom));
tempgeom.texid = i; tempgeom.matid = mjMAXMATERIAL - 1;
// modify settings // modify settings
glDisable(GL_LIGHTING); glDisable(GL_LIGHTING);
unity/Runtime/Bindings/MjBindings.cs
+7 -4
View File
@@ -52,11 +52,13 @@ public const int mjNREF = 2;
public const int mjNIMP = 5; public const int mjNIMP = 5;
public const int mjNSOLVER = 200; public const int mjNSOLVER = 200;
public const int mjNISLAND = 20; public const int mjNISLAND = 20;
public const int mjNTEXMAT = 6;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true; public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true;
public const bool mjEXTERNC = true; public const bool mjEXTERNC = true;
public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true; public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
public const int mjNAUX = 10; 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_MJSPEC_H_ = true;
public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true; public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true;
public const int mjMAXTHREAD = 128; public const int mjMAXTHREAD = 128;
@@ -5634,6 +5636,9 @@ public unsafe struct mjrContext_ {
public fixed uint auxFBO_r[10]; public fixed uint auxFBO_r[10];
public fixed uint auxColor[10]; public fixed uint auxColor[10];
public fixed uint auxColor_r[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 int ntexture;
public fixed int textureType[100]; public fixed int textureType[100];
public fixed uint texture[100]; public fixed uint texture[100];
@@ -5901,11 +5906,9 @@ public unsafe struct mjvGeom_ {
public int objtype; public int objtype;
public int objid; public int objid;
public int category; public int category;
public int texid; public int matid;
public int texuniform;
public int texcoord; public int texcoord;
public int segid; public int segid;
public fixed float texrepeat[2];
public fixed float size[3]; public fixed float size[3];
public fixed float pos[3]; public fixed float pos[3];
public fixed float mat[9]; public fixed float mat[9];