Fix bug in material texrepeat attribute, fixes #2223.

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

PiperOrigin-RevId: 697993181
Change-Id: I643a07e2b0866a4af56d7cbd3344e764a7caf56f

doc/changelog.rst

@@ -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

@@ -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_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
-  int mat_texuniform[mjMAXMATERIAL];            // texture repetition for 2d mapping
+  int mat_texuniform[mjMAXMATERIAL];       // uniform cube mapping
-  int mat_texrepeat[mjMAXMATERIAL*2];           // texture repetition for 2d mapping
+  float mat_texrepeat[mjMAXMATERIAL*2];    // texture repetition for 2d mapping
 
   // texture objects and info
-  int ntexture;                        // number of allocated textures
+  int ntexture;                            // number of allocated textures
-  int textureType[mjMAXTEXTURE];       // type of texture (mjtTexture) (ntexture)
+  int textureType[mjMAXTEXTURE];           // type of texture (mjtTexture) (ntexture)
-  unsigned int texture[mjMAXTEXTURE];  // texture names
+  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

@@ -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_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
-  int mat_texuniform[mjMAXMATERIAL];            // texture repetition for 2d mapping
+  int mat_texuniform[mjMAXMATERIAL];       // uniform cube mapping
-  int mat_texrepeat[mjMAXMATERIAL*2];           // texture repetition for 2d mapping
+  float mat_texrepeat[mjMAXMATERIAL*2];    // texture repetition for 2d mapping
 
   // texture objects and info
-  int ntexture;                        // number of allocated textures
+  int ntexture;                            // number of allocated textures
-  int textureType[mjMAXTEXTURE];       // type of texture (mjtTexture) (ntexture)
+  int textureType[mjMAXTEXTURE];           // type of texture (mjtTexture) (ntexture)
-  unsigned int texture[mjMAXTEXTURE];  // texture names
+  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

@@ -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

@@ -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",
+        mju_error("With skybox, maximum number of materials is %d, got %d",
-                  m->nmat);
+                  mjMAXMATERIAL-1, m->nmat);
       }
       for (int j=0; j < mjNTEXROLE; j++) {
         con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + j] = -1;

unity/Runtime/Bindings/MjBindings.cs

@@ -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];