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Fix bug in material texrepeat attribute, fixes #2223.

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Was mistakenly cast from float to int, bug introduced in 3.2.0

PiperOrigin-RevId: 697993181
Change-Id: I643a07e2b0866a4af56d7cbd3344e764a7caf56f
This commit is contained in:
Yuval Tassa
2024-11-19 06:29:49 -08:00
committed by Copybara-Service
parent 072039ac60
commit 5c23ae11ef
6 changed files with 26 additions and 24 deletions
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doc/changelog.rst
+2
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@@ -13,6 +13,8 @@ MJX
Bug fixes
^^^^^^^^^
- Fixed :github:issue:`2212`, type error in ``mjx.get_data``.
- Fixed bug introduced in 3.2.0 in handling of :ref:`texrepeat<asset-material-texrepeat>` attribute, was mistakenly cast
from ``float`` to ``int``, (fixed :github:issue:`2223`).
Version 3.2.5 (Nov 4, 2024)
---------------------------
doc/includes/references.h
+9 -9
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@@ -1582,14 +1582,14 @@ struct mjrContext_ { // custom OpenGL context
unsigned int auxColor_r[mjNAUX]; // auxiliary color buffer for resolving
// materials with textures
int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // 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
int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
int mat_texuniform[mjMAXMATERIAL]; // uniform cube mapping
float mat_texrepeat[mjMAXMATERIAL*2]; // texture repetition for 2d mapping
// texture objects and info
int ntexture; // number of allocated textures
int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[mjMAXTEXTURE]; // texture names
int ntexture; // number of allocated textures
int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[mjMAXTEXTURE]; // texture names
// displaylist starting positions
unsigned int basePlane; // all planes from model
@@ -1628,13 +1628,13 @@ struct mjrContext_ { // custom OpenGL context
int windowDoublebuffer; // is default/window framebuffer double buffered
// framebuffer
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
// pixel output format
int readPixelFormat; // default color pixel format for mjr_readPixels
int readPixelFormat; // default color pixel format for mjr_readPixels
// 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 enum mjtGeomInertia_ { // type of inertia inference
include/mujoco/mjrender.h
+9 -9
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@@ -115,14 +115,14 @@ struct mjrContext_ { // custom OpenGL context
unsigned int auxColor_r[mjNAUX]; // auxiliary color buffer for resolving
// materials with textures
int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // 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
int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
int mat_texuniform[mjMAXMATERIAL]; // uniform cube mapping
float mat_texrepeat[mjMAXMATERIAL*2]; // texture repetition for 2d mapping
// texture objects and info
int ntexture; // number of allocated textures
int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[mjMAXTEXTURE]; // texture names
int ntexture; // number of allocated textures
int textureType[mjMAXTEXTURE]; // type of texture (mjtTexture) (ntexture)
unsigned int texture[mjMAXTEXTURE]; // texture names
// displaylist starting positions
unsigned int basePlane; // all planes from model
@@ -161,13 +161,13 @@ struct mjrContext_ { // custom OpenGL context
int windowDoublebuffer; // is default/window framebuffer double buffered
// framebuffer
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
// pixel output format
int readPixelFormat; // default color pixel format for mjr_readPixels
int readPixelFormat; // default color pixel format for mjr_readPixels
// 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;
introspect/structs.py
+2 -2
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@@ -8596,12 +8596,12 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='int'),
extents=(1000,),
),
doc='texture repetition for 2d mapping',
doc='uniform cube mapping',
),
StructFieldDecl(
name='mat_texrepeat',
type=ArrayType(
inner_type=ValueType(name='int'),
inner_type=ValueType(name='float'),
extents=(2000,),
),
doc='texture repetition for 2d mapping',
src/render/render_context.c
+3 -3
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@@ -1304,7 +1304,7 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
}
if (m->nmat >= mjMAXMATERIAL-1) {
mju_error("Maximum number of materials is 100, got %d", m->nmat);
mju_error("Maximum number of materials is %d, got %d", mjMAXMATERIAL, m->nmat);
}
for (int i=0; i < m->nmat; i++) {
if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {
@@ -1320,8 +1320,8 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
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 99, got %d",
m->nmat);
mju_error("With skybox, maximum number of materials is %d, got %d",
mjMAXMATERIAL-1, m->nmat);
}
for (int j=0; j < mjNTEXROLE; j++) {
con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + j] = -1;
unity/Runtime/Bindings/MjBindings.cs
+1 -1
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@@ -5681,7 +5681,7 @@ public unsafe struct mjrContext_ {
public fixed uint auxColor_r[10];
public fixed int mat_texid[10000];
public fixed int mat_texuniform[1000];
public fixed int mat_texrepeat[2000];
public fixed float mat_texrepeat[2000];
public int ntexture;
public fixed int textureType[1000];
public fixed uint texture[1000];