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Refactor PBR texture layers from separate sub-elements to a single layer sub-element.

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Add new element to PyMJCF schema.

PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
This commit is contained in:
Yuval Tassa
2024-10-26 07:40:49 -07:00
committed by Copybara-Service
parent 078c7bb42e
commit 61cb552f8a
7 changed files with 80 additions and 200 deletions
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doc/APIreference/APItypes.rst
+1 -1
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@@ -1143,7 +1143,7 @@ behavior.
.. _mjsCompiler:
mjsCompiler
~~~~~~~~~~
~~~~~~~~~~~
Compiler options.
doc/XMLreference.rst
+53 -113
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@@ -1247,19 +1247,16 @@ The full list of processing steps applied by the compiler to each mesh is as fol
:at:`inertia`: :at-val:`[convex, exact, legacy], "legacy"`
This attribute controls how the mesh is used when mass and inertia are
:ref:`inferred from geometry<_compiler-inertiafromgeom>`. The current default value :at-val:`legacy` will be changed
:ref:`inferred from geometry<compiler-inertiafromgeom>`. The current default value :at-val:`legacy` will be changed
to :at-val:`convex` in a future release.
:at-val:`convex`
Use the mesh's convex hull to compute volume and inertia.
:at-val:`convex`: Use the mesh's convex hull to compute volume and inertia.
:at-val:`exact`
Use an exact algorithm to compute volume and inertia. This algorithm requires a well-oriented, watertight mesh and
will error otherwise.
:at-val:`exact`: Use an exact algorithm to compute volume and inertia. This algorithm requires a well-oriented,
watertight mesh and will error otherwise.
:at-val:`legacy`
Use the legacy algorithm, which is similar to :at-val:`convex`, but leads to volume overcounting for non-convex
meshes.
:at-val:`legacy`: Use the legacy algorithm, which is similar to :at-val:`convex`, but leads to volume overcounting
for non-convex meshes.
.. _asset-mesh-smoothnormal:
@@ -1710,9 +1707,9 @@ properties are grouped together.
loaded explicitly via the :ref:`texture <asset-texture>` element and then referenced here. The texture referenced
here is used for specifying the RGB values. For advanced rendering (e.g., Physics-Based Rendering), more texture
types need to be specified (e.g., roughness, metallic). In this case, this texture attribute should be omitted, and
the texture types should be specified explicitly via the specific role child elements, e.g.,
:ref:`texture <material-orm>`. Note however that the built-in renderer does not support PBR properties, so these
advanced rendering features are only available when using an external renderer.
the texture types should be specified using :ref:`layer <material-layer>` child elements. Note however that the
built-in renderer does not support PBR properties, so these advanced rendering features are only available when using
an external renderer.
.. _asset-material-texrepeat:
@@ -1784,116 +1781,59 @@ properties are grouped together.
model element which defines its own local rgba attribute, the local definition has precedence. Note that this "local"
definition could in fact come from a defaults class. The remaining material properties always apply.
.. _material-rgb:
.. _material-layer:
:el-prefix:`material/` |-| **rgb** (?)
''''''''''''''''''''''''''''''''''''''
:el-prefix:`material/` |-| **layer** (?)
''''''''''''''''''''''''''''''''''''''''
This element references a texture asset used to specify base color / albedo values.
If multiple textures are needed to specify the appearance of a material, the :ref:`texture <asset-material-texture>`
attribute cannot be used, and :el:`layer` child elements must be used instead. Specifying both the :at:`texture`
attribute and :el:`layer` child elements is an error.
.. _material-rgb-texture:
.. _material-layer-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly 3 channels.
Name of the texture, like the :ref:`texture <asset-material-texture>` attribute.
.. _material-normal:
.. _material-layer-role:
:el-prefix:`material/` |-| **normal** (?)
'''''''''''''''''''''''''''''''''''''''''
:at:`role`: :at-val:`string, required`
Role of the texture. The valid values, expected number of channels, and the role semantics are:
This element references a texture asset used to specify the bump map (surface normals).
.. _material-normal-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly 3 channels.
.. _material-occlusion:
:el-prefix:`material/` |-| **occlusion** (?)
''''''''''''''''''''''''''''''''''''''''''''
This element references a texture asset used to specify ambient occlusion.
.. _material-occlusion-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly one channel.
.. _material-roughness:
:el-prefix:`material/` |-| **roughness** (?)
''''''''''''''''''''''''''''''''''''''''''''
This element references a texture asset used to specify the roughness map.
.. _material-roughness-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly one channel.
.. _material-metallic:
:el-prefix:`material/` |-| **metallic** (?)
'''''''''''''''''''''''''''''''''''''''''''
This element references a texture asset used to specify the metallic map.
.. _material-metallic-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly one channel.
.. _material-opacity:
:el-prefix:`material/` |-| **opacity** (?)
''''''''''''''''''''''''''''''''''''''''''
This element references a texture asset used to specify the opacity map (alpha channel, transparency).
.. _material-opacity-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly one channel.
.. _material-emissive:
:el-prefix:`material/` |-| **emissive** (?)
'''''''''''''''''''''''''''''''''''''''''''
This element references a texture asset used to specify light emission.
.. _material-emissive-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly 4 channels.
.. _material-orm:
:el-prefix:`material/` |-| **orm** (?)
''''''''''''''''''''''''''''''''''''''
This element references a texture asset used to specify a packed ORM map, where occlusion, roughness, and metallic
are joined into the corresponding RGB values of a single texture.
.. _material-orm-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly 3 channels.
.. _material-rgba:
:el-prefix:`material/` |-| **rgba** (?)
'''''''''''''''''''''''''''''''''''''''
This element references a texture asset used to specify a packed map where albedo and opacity are joined into the same
4-channel texture.
.. _material-rgba-texture:
:at:`texture`: :at-val:`string, required`
Name of the texture, expected to have exactly 4 channels.
.. list-table::
:widths: 1 1 8
:header-rows: 1
* - value
- channels
- description
* - :at:`rgb`
- 3
- base color / albedo [red, green, blue]
* - :at:`normal`
- 3
- bump map (surface normals)
* - :at:`occlusion`
- 1
- ambient occlusion
* - :at:`roughness`
- 1
- roughness
* - :at:`metallic`
- 1
- metallicity
* - :at:`opacity`
- 1
- opacity (alpha channel)
* - :at:`emissive`
- 4
- RGB light emmision intensity, exposure weight in 4th channel
* - :at:`orm`
- 3
- packed 3 channel [occlusion, roughness, metallic]
* - :at:`rgba`
- 4
- packed 4 channel [red, green, blue, alpha]
.. _asset-model:
doc/XMLschema.rst
+3 -59
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@@ -178,66 +178,10 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`rgb | ? | :class: mjcf-attributes |
| <material-rgb>` | | |
| :ref:`layer | \* | :class: mjcf-attributes |
| <material-layer>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-rgb-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`occlusion | ? | :class: mjcf-attributes |
| <material-occlusion>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-occlusion-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`roughness | ? | :class: mjcf-attributes |
| <material-roughness>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-roughness-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`metallic | ? | :class: mjcf-attributes |
| <material-metallic>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-metallic-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`normal | ? | :class: mjcf-attributes |
| <material-normal>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-normal-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`opacity | ? | :class: mjcf-attributes |
| <material-opacity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-opacity-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`emissive | ? | :class: mjcf-attributes |
| <material-emissive>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-emissive-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`rgba | ? | :class: mjcf-attributes |
| <material-rgba>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-rgba-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`orm | ? | :class: mjcf-attributes |
| <material-orm>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-orm-texture>` | | | | |
| | | | :ref:`texture<material-layer-texture>` | :ref:`role<material-layer-role>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
doc/changelog.rst
+4 -1
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@@ -10,6 +10,9 @@ General
- The global compiler flag ``exactmeshinertia`` has been removed and replaced with the mesh-specific
:ref:`inertia<asset-mesh-inertia>` attribute.
- Removed the deprecated ``mju_rotVecMat`` and ``mju_rotVecMatT`` functions.
- Sorting now uses a faster, native sort function (fixes :github:issue:`1638`).
- The PBR texture layers introduced in 3.2.1 were refactored from seperate sub-elements to a single
:ref:`layer<material-layer>` sub-element.
MJX
^^^
@@ -169,7 +172,7 @@ General
2. Added a new :ref:`autoreset<option-flag-autoreset>` flag to disable automatic reset when NaNs or infinities are
detected.
3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures
for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't
for rendering (e.g., ``occlusion, roughness, metallic``). Note that the MuJoCo renderer doesn't
support these new features, and they are made available for use with external renderers.
4. Sorting (``mjQUICKSORT``) now calls ``std::sort`` when building with C++ (:github:issue:`1638`).
src/xml/xml_native_reader.cc
+11 -18
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@@ -247,15 +247,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"material", "*", "12", "name", "class", "texture", "texrepeat", "texuniform",
"emission", "specular", "shininess", "reflectance", "metallic", "roughness", "rgba"},
{"<"},
{"rgb", "?", "1", "texture"},
{"occlusion", "?", "1", "texture"},
{"roughness", "?", "1", "texture"},
{"metallic", "?", "1", "texture"},
{"normal", "?", "1", "texture"},
{"opacity", "?", "1", "texture"},
{"emissive", "?", "1", "texture"},
{"rgba", "?", "1", "texture"},
{"orm", "?", "1", "texture"},
{"layer", "*", "2", "texture", "role"},
{">"},
{"model", "*", "3", "name", "file", "content_type"},
{">"},
@@ -1590,17 +1582,18 @@ void mjXReader::OneMaterial(XMLElement* elem, mjsMaterial* material) {
tex_attributes_found = true;
}
XMLElement* tex_elem = FirstChildElement(elem);
while (tex_elem) {
XMLElement* layer = FirstChildElement(elem);
while (layer) {
if (tex_attributes_found) {
throw mjXError(tex_elem, "A material with a texture attribute cannot have texture sub-elements");
throw mjXError(layer, "A material with a texture attribute cannot have layer sub-elements");
}
// texture sub-element
int role = FindKey(texrole_map, texrole_sz, tex_elem->Name());
string texmat;
ReadAttrTxt(tex_elem, "texture", texmat, true);
mjs_setInStringVec(material->textures, role, texmat.c_str());
tex_elem = NextSiblingElement(tex_elem);
// layer sub-element
ReadAttrTxt(layer, "role", text, true);
int role = FindKey(texrole_map, texrole_sz, text);
ReadAttrTxt(layer, "texture", text, true);
mjs_setInStringVec(material->textures, role, text.c_str());
layer = NextSiblingElement(layer);
}
if (MapValue(elem, "texuniform", &n, bool_map, 2)) {
src/xml/xml_native_reader.h
+1 -1
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@@ -101,7 +101,7 @@ class mjXReader : public mjXBase {
};
// MJCF schema
#define nMJCF 245
#define nMJCF 237
extern const char* MJCF[nMJCF][mjXATTRNUM];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_
test/xml/xml_native_reader_test.cc
+7 -7
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@@ -805,10 +805,10 @@ TEST_F(XMLReaderTest, MaterialTextureTest) {
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material">
<occlusion texture="tiny0"/>
<roughness texture="tiny0"/>
<metallic texture="tiny0"/>
<rgb texture="tiny1"/>
<layer role="occlusion" texture="tiny0"/>
<layer role="roughness" texture="tiny0"/>
<layer role="metallic" texture="tiny0"/>
<layer role="rgb" texture="tiny1"/>
</material>
</asset>
<worldbody>
@@ -873,8 +873,8 @@ TEST_F(XMLReaderTest, MaterialTextureFailTest) {
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material" texture="tiny1">
<rgb texture="tiny1"/>
<occlusion texture="tiny0"/>
<layer role="rgb" texture="tiny1"/>
<layer role="occlusion" texture="tiny0"/>
</material>
</asset>
<worldbody>
@@ -887,7 +887,7 @@ TEST_F(XMLReaderTest, MaterialTextureFailTest) {
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("A material with a texture attribute "
"cannot have texture sub-elements"));
"cannot have layer sub-elements"));
}
TEST_F(XMLReaderTest, LargeTextureTest) {