Use mjrTextureTarget type instead of filament type.

PiperOrigin-RevId: 910547104
Change-Id: I3e8aa30a72b9b5ec8c45e8fa6bac18353ce7b485

src/experimental/filament/compat/scene_geom_util.cc

@@ -420,8 +420,7 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
   // the programmatic UVs.
 
   if (textures.color) {
-    if (Texture::downcast(textures.color)->GetFilamentTexture()->getTarget() ==
-        filament::Texture::Sampler::SAMPLER_2D) {
+    if (Texture::downcast(textures.color)->GetTarget() == mjTEXTURE_2D) {
       // For 2D textures, `tex_repeat` specifies how many times the texture
       // image is repeated. The `tex_uniform` flag determines if the repetition
       // is applied at in object space (false) or in world space (true).

src/experimental/filament/filament/renderable.cc

@@ -383,8 +383,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
     } else {
       return ObjectManager::kPhongColor;
     }
-  } else if (color_texture->GetFilamentTexture()->getTarget() ==
-              filament::Texture::Sampler::SAMPLER_CUBEMAP) {
+  } else if (color_texture->GetTarget() == mjTEXTURE_CUBE) {
     if (material_params_.color[3] < 1.0f) {
       return ObjectManager::kPhongCubeFade;
     } else if (material_params_.reflective) {

src/experimental/filament/filament/texture.h

@@ -52,6 +52,9 @@ class Texture : public mjrTexture {
   // Returns the height of the texture.
   int GetHeight() const { return config_.height; }
 
+  // Returns the target of the texture.
+  mjrTextureTarget GetTarget() const { return config_.target; }
+
   // Returns the underlying filament texture.
   filament::Texture* GetFilamentTexture() const { return texture_; }