Adds color space to textures.
PiperOrigin-RevId: 761907261 Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
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Google DeepMind
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Copybara-Service
Copybara-Service
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@@ -1526,6 +1526,12 @@ still be specified here but this functionality is now deprecated and will be rem
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with the texrepeat attribute of :ref:`material <asset-material>`. The data can be loaded from a single file or
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created procedurally.
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.. _asset-texture-colorspace:
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:at:`colorspace`: :at-val:`[auto, linear, sRGB], "auto"`
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This attribute determines the color space of the texture. The default value ``auto`` means that the color space will
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be determined from the image file itself. If no color space is defined in the file, then ``linear`` is assumed.
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.. _asset-texture-content_type:
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:at:`content_type`: :at-val:`string, optional`
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+6
-6
@@ -153,17 +153,17 @@
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| :ref:`texture | \* | :class: mjcf-attributes |
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| <asset-texture>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<asset-texture-name>` | :ref:`type<asset-texture-type>` | :ref:`content_type<asset-texture-content_type>` | :ref:`file<asset-texture-file>` | |
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| | | | :ref:`name<asset-texture-name>` | :ref:`type<asset-texture-type>` | :ref:`colorspace<asset-texture-colorspace>` | :ref:`content_type<asset-texture-content_type>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`gridsize<asset-texture-gridsize>` | :ref:`gridlayout<asset-texture-gridlayout>` | :ref:`fileright<asset-texture-fileright>` | :ref:`fileleft<asset-texture-fileleft>` | |
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| | | | :ref:`file<asset-texture-file>` | :ref:`gridsize<asset-texture-gridsize>` | :ref:`gridlayout<asset-texture-gridlayout>` | :ref:`fileright<asset-texture-fileright>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`fileup<asset-texture-fileup>` | :ref:`filedown<asset-texture-filedown>` | :ref:`filefront<asset-texture-filefront>` | :ref:`fileback<asset-texture-fileback>` | |
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| | | | :ref:`fileleft<asset-texture-fileleft>` | :ref:`fileup<asset-texture-fileup>` | :ref:`filedown<asset-texture-filedown>` | :ref:`filefront<asset-texture-filefront>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`builtin<asset-texture-builtin>` | :ref:`rgb1<asset-texture-rgb1>` | :ref:`rgb2<asset-texture-rgb2>` | :ref:`mark<asset-texture-mark>` | |
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| | | | :ref:`fileback<asset-texture-fileback>` | :ref:`builtin<asset-texture-builtin>` | :ref:`rgb1<asset-texture-rgb1>` | :ref:`rgb2<asset-texture-rgb2>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`markrgb<asset-texture-markrgb>` | :ref:`random<asset-texture-random>` | :ref:`width<asset-texture-width>` | :ref:`height<asset-texture-height>` | |
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| | | | :ref:`mark<asset-texture-mark>` | :ref:`markrgb<asset-texture-markrgb>` | :ref:`random<asset-texture-random>` | :ref:`width<asset-texture-width>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | :ref:`nchannel<asset-texture-nchannel>` | | |
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| | | | :ref:`height<asset-texture-height>` | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | :ref:`nchannel<asset-texture-nchannel>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| asset |br| |_| |L| | | .. table:: |
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@@ -544,6 +544,11 @@ typedef enum mjtTextureRole_ { // role of texture map in rendering
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mjTEXROLE_ORM, // occlusion, roughness, metallic
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mjNTEXROLE
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} mjtTextureRole;
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typedef enum mjtColorSpace_ { // type of color space encoding
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mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
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mjCOLORSPACE_LINEAR, // linear color space
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mjCOLORSPACE_SRGB // standard RGB color space
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} mjtColorSpace;
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typedef enum mjtIntegrator_ { // integrator mode
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mjINT_EULER = 0, // semi-implicit Euler
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mjINT_RK4, // 4th-order Runge Kutta
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@@ -1326,6 +1331,7 @@ struct mjModel_ {
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// textures
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int* tex_type; // texture type (mjtTexture) (ntex x 1)
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int* tex_colorspace; // texture colorspace (mjtColorSpace) (ntex x 1)
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int* tex_height; // number of rows in texture image (ntex x 1)
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int* tex_width; // number of columns in texture image (ntex x 1)
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int* tex_nchannel; // number of channels in texture image (ntex x 1)
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@@ -2150,6 +2156,7 @@ typedef struct mjsTexture_ { // texture specification
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mjsElement* element; // element type
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mjString* name; // name
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mjtTexture type; // texture type
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mjtColorSpace colorspace; // colorspace
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// method 1: builtin
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int builtin; // builtin type (mjtBuiltin)
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