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