Adds color space to textures.

PiperOrigin-RevId: 761907261
Change-Id: Iec546d1d5907a15e57ef809ec31850640fc52915

src/xml/xml_base.h

@@ -35,6 +35,7 @@ extern const int jac_sz;
 extern const int solver_sz;
 extern const int equality_sz;
 extern const int texture_sz;
+extern const int colorspace_sz;
 extern const int builtin_sz;
 extern const int mark_sz;
 extern const int dyn_sz;
@@ -60,6 +61,7 @@ extern const mjMap jac_map[];
 extern const mjMap solver_map[];
 extern const mjMap equality_map[];
 extern const mjMap texture_map[];
+extern const mjMap colorspace_map[];
 extern const mjMap texrole_map[];
 extern const mjMap builtin_map[];
 extern const mjMap mark_map[];

src/xml/xml_native_reader.cc

@@ -241,8 +241,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"<"},
             {"bone", "*", "5", "body", "bindpos", "bindquat", "vertid", "vertweight"},
         {">"},
-        {"texture", "*", "23", "name", "type", "content_type", "file", "gridsize", "gridlayout",
-            "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
+        {"texture", "*", "24", "name", "type", "colorspace", "content_type", "file", "gridsize",
+            "gridlayout", "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
             "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
             "hflip", "vflip", "nchannel"},
         {"material", "*", "12", "name", "class", "texture",  "texrepeat", "texuniform",
@@ -650,6 +650,15 @@ const mjMap texture_map[texture_sz] = {
 };
 
 
+// colorspace for texture
+const int colorspace_sz = 3;
+const mjMap colorspace_map[colorspace_sz] = {
+  {"auto",        mjCOLORSPACE_AUTO},
+  {"linear",      mjCOLORSPACE_LINEAR},
+  {"sRGB",        mjCOLORSPACE_SRGB}
+};
+
+
 // builtin type for texture
 const int builtin_sz = 4;
 const mjMap builtin_map[builtin_sz] = {
@@ -3194,6 +3203,9 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
       if (MapValue(elem, "type", &n, texture_map, texture_sz)) {
         texture->type = (mjtTexture)n;
       }
+      if (MapValue(elem, "colorspace", &n, colorspace_map, colorspace_sz)) {
+        texture->colorspace = (mjtColorSpace)n;
+      }
       if (ReadAttrTxt(elem, "name", texname)) {
         mjs_setString(texture->name, texname.c_str());
       }

src/xml/xml_native_writer.cc

@@ -1488,6 +1488,7 @@ void mjXWriter::Asset(XMLElement* root) {
 
     // write common attributes
     WriteAttrKey(elem, "type", texture_map, texture_sz, texture->type);
+    WriteAttrKey(elem, "colorspace", colorspace_map, colorspace_sz, texture->colorspace);
     WriteAttrTxt(elem, "name", texture->name);
 
     // write builtin