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Copy texture coordinates from OBJ into flex. Fixes #2464.

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PiperOrigin-RevId: 732109960
Change-Id: I506b3540ab5d489ce8f10d0c473919611ccb654a
This commit is contained in:
Alessio Quaglino
2025-02-28 06:03:11 -08:00
committed by Copybara-Service
parent 06e217df7e
commit 7651cb1b33
19 changed files with 117 additions and 15 deletions
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include/mujoco/mjmodel.h
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@@ -885,6 +885,7 @@ struct mjModel_ {
int* flex_vertbodyid; // vertex body ids (nflexvert x 1)
int* flex_edge; // edge vertex ids (2 per edge) (nflexedge x 2)
int* flex_elem; // element vertex ids (dim+1 per elem) (nflexelemdata x 1)
int* flex_elemtexcoord; // element texture coordinates (dim+1) (nflexelemdata x 1)
int* flex_elemedge; // element edge ids (nflexelemedge x 1)
int* flex_elemlayer; // element distance from surface, 3D only (nflexelem x 1)
int* flex_shell; // shell fragment vertex ids (dim per frag) (nflexshelldata x 1)
include/mujoco/mjspec.h
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@@ -446,6 +446,7 @@ typedef struct mjsFlex_ { // flex specification
mjDoubleVec* vert; // vertex positions
mjIntVec* elem; // element vertex ids
mjFloatVec* texcoord; // vertex texture coordinates
mjIntVec* facetexcoord; // face texture coordinates
// other
mjString* info; // message appended to compiler errors
include/mujoco/mjvisualize.h
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@@ -523,6 +523,7 @@ struct mjvSceneState_ {
int* flex_vertadr;
int* flex_vertnum;
int* flex_elem;
int* flex_elemtexcoord;
int* flex_elemlayer;
int* flex_elemadr;
int* flex_elemnum;
include/mujoco/mjxmacro.h
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@@ -350,6 +350,7 @@
X ( int, flex_vertbodyid, nflexvert, 1 ) \
X ( int, flex_edge, nflexedge, 2 ) \
XMJV( int, flex_elem, nflexelemdata, 1 ) \
XMJV( int, flex_elemtexcoord, nflexelemdata, 1 ) \
X ( int, flex_elemedge, nflexelemedge, 1 ) \
XMJV( int, flex_elemlayer, nflexelem, 1 ) \
XMJV( int, flex_shell, nflexshelldata,1 ) \