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Fix flex textures for 3D grids.

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Fixes #2013.

PiperOrigin-RevId: 728673726
Change-Id: Idb2b6bf9e5392576d0b09f3e71dbea6f4636ae81
This commit is contained in:
Alessio Quaglino
2025-02-19 07:58:27 -08:00
committed by Copybara-Service
parent 7f3bb062c3
commit 6a86247810
6 changed files with 20 additions and 4 deletions
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src/user/user_flexcomp.cc
+9 -3
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@@ -597,7 +597,7 @@ int mjCFlexcomp::GridID(int ix, int iy, int iz) {
// make grid
bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
int dim = def.Flex().spec.dim;
bool hastex = texcoord.empty();
bool needtex = texcoord.empty() && mjs_getString(def.spec.flex->material)[0];
// 1D
if (dim == 1) {
@@ -646,7 +646,7 @@ bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
point.push_back(0);
// add texture coordinates, if not specified explicitly
if (!hastex) {
if (needtex) {
texcoord.push_back(ix/(double)std::max(count[0]-1, 1));
texcoord.push_back(iy/(double)std::max(count[1]-1, 1));
}
@@ -690,6 +690,12 @@ bool mjCFlexcomp::MakeGrid(char* error, int error_sz) {
point.push_back(spacing[1]*(iy - 0.5*(count[1]-1)));
point.push_back(spacing[2]*(iz - 0.5*(count[2]-1)));
// add texture coordinates, if not specified explicitly
if (needtex) {
texcoord.push_back(ix/(float)std::max(count[0]-1, 1));
texcoord.push_back(iy/(float)std::max(count[1]-1, 1));
}
// add elements
if (ix < count[0]-1 && iy < count[1]-1 && iz < count[2]-1) {
int vert[8] = {
@@ -834,7 +840,7 @@ bool mjCFlexcomp::MakeSquare(char* error, int error_sz) {
// make 3d box, ellipsoid or cylinder
bool mjCFlexcomp::MakeBox(char* error, int error_sz) {
double pos[3];
bool needtex = texcoord.empty() && !std::string(mjs_getString(def.spec.flex->material)).empty();
bool needtex = texcoord.empty() && mjs_getString(def.spec.flex->material)[0];
// set 3D
def.spec.flex->dim = 3;