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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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src/render/render_context.c
+7 -2
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@@ -1387,15 +1387,20 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
// assign data
int type = 0;
int internaltype = 0;
if (m->tex_nchannel[texid] == 3) {
type = GL_RGB;
internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_EXT : GL_RGB;
} else if (m->tex_nchannel[texid] == 4) {
type = GL_RGBA;
internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_ALPHA8_EXT : GL_RGBA;
} else {
mju_error("Number of channels not supported: %d", m->tex_nchannel[texid]);
}
glTexImage2D(GL_TEXTURE_2D, 0, type, m->tex_width[texid], m->tex_height[texid], 0,
type, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid]);
glTexImage2D(GL_TEXTURE_2D, 0, internaltype, m->tex_width[texid],
m->tex_height[texid], 0, type, GL_UNSIGNED_BYTE,
m->tex_data + m->tex_adr[texid]);
// generate mipmaps
glGenerateMipmap(GL_TEXTURE_2D);