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Adds color space to textures.

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PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915
This commit is contained in:
Google DeepMind
2025-05-22 04:32:04 -07:00
committed by Copybara-Service
parent 62a9d5b98d
commit 3e9bc79b54
17 changed files with 123 additions and 23 deletions
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include/mujoco/mjmodel.h
+8
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@@ -151,6 +151,13 @@ typedef enum mjtTextureRole_ { // role of texture map in rendering
} mjtTextureRole;
typedef enum mjtColorSpace_ { // type of color space encoding
mjCOLORSPACE_AUTO = 0, // attempts to autodetect color space, defaults to linear
mjCOLORSPACE_LINEAR, // linear color space
mjCOLORSPACE_SRGB // standard RGB color space
} mjtColorSpace;
typedef enum mjtIntegrator_ { // integrator mode
mjINT_EULER = 0, // semi-implicit Euler
mjINT_RK4, // 4th-order Runge Kutta
@@ -994,6 +1001,7 @@ struct mjModel_ {
// textures
int* tex_type; // texture type (mjtTexture) (ntex x 1)
int* tex_colorspace; // texture colorspace (mjtColorSpace) (ntex x 1)
int* tex_height; // number of rows in texture image (ntex x 1)
int* tex_width; // number of columns in texture image (ntex x 1)
int* tex_nchannel; // number of channels in texture image (ntex x 1)
include/mujoco/mjspec.h
+1
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@@ -525,6 +525,7 @@ typedef struct mjsTexture_ { // texture specification
mjsElement* element; // element type
mjString* name; // name
mjtTexture type; // texture type
mjtColorSpace colorspace; // colorspace
// method 1: builtin
int builtin; // builtin type (mjtBuiltin)
include/mujoco/mjxmacro.h
+1
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@@ -439,6 +439,7 @@
XNV ( float, hfield_data, nhfielddata, 1 ) \
X ( int, hfield_pathadr, nhfield, 1 ) \
X ( int, tex_type, ntex, 1 ) \
X ( int, tex_colorspace, ntex, 1 ) \
X ( int, tex_height, ntex, 1 ) \
X ( int, tex_width, ntex, 1 ) \
X ( int, tex_nchannel, ntex, 1 ) \