From 68fdc439e4e57a37d6feb9e0b0f95f5cf3cf0ec9 Mon Sep 17 00:00:00 2001
From: Haroon Qureshi <haroonq@google.com>
Date: Tue, 5 May 2026 02:47:13 -0700
Subject: [PATCH] Use mjrTextureTarget type instead of filament type.

PiperOrigin-RevId: 910547104
Change-Id: I3e8aa30a72b9b5ec8c45e8fa6bac18353ce7b485
---
 src/experimental/filament/compat/scene_geom_util.cc | 3 +--
 src/experimental/filament/filament/renderable.cc    | 3 +--
 src/experimental/filament/filament/texture.h        | 3 +++
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/experimental/filament/compat/scene_geom_util.cc b/src/experimental/filament/compat/scene_geom_util.cc
index 382e6c88..6e9939b3 100644
--- a/src/experimental/filament/compat/scene_geom_util.cc
+++ b/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).
diff --git a/src/experimental/filament/filament/renderable.cc b/src/experimental/filament/filament/renderable.cc
index 279d718c..a620be37 100644
--- a/src/experimental/filament/filament/renderable.cc
+++ b/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) {
diff --git a/src/experimental/filament/filament/texture.h b/src/experimental/filament/filament/texture.h
index c0ec1e0b..ba94a161 100644
--- a/src/experimental/filament/filament/texture.h
+++ b/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_; }