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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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src/engine/engine_vis_visualize.c
+10 -8
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@@ -2527,15 +2527,16 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
if (dim == 2 || m->flex_elemlayer[m->flex_elemadr[f]+e] == opt->flex_layer) {
// get element data
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
const int* tdata = m->flex_elemtexcoord + m->flex_elemdataadr[f] + e*(dim+1);
// triangles: two faces per element
if (dim == 2) {
makeFace(face, normal, radius, vertxpos, nface, edata[0], edata[1], edata[2]);
copyTex(texdst, texsrc, nface, edata[0], edata[1], edata[2]);
copyTex(texdst, texsrc, nface, tdata[0], tdata[1], tdata[2]);
nface++;
makeFace(face, normal, radius, vertxpos, nface, edata[0], edata[2], edata[1]);
copyTex(texdst, texsrc, nface, edata[0], edata[2], edata[1]);
copyTex(texdst, texsrc, nface, tdata[0], tdata[2], tdata[1]);
nface++;
}
@@ -2543,22 +2544,22 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
else {
makeFace(face, normal, radius, vertxpos,
nface, edata[0], edata[1], edata[2]);
copyTex(texdst, texsrc, nface, edata[0], edata[1], edata[2]);
copyTex(texdst, texsrc, nface, tdata[0], tdata[1], tdata[2]);
nface++;
makeFace(face, normal, radius, vertxpos,
nface, edata[0], edata[2], edata[3]);
copyTex(texdst, texsrc, nface, edata[0], edata[2], edata[3]);
copyTex(texdst, texsrc, nface, tdata[0], tdata[2], tdata[3]);
nface++;
makeFace(face, normal, radius, vertxpos,
nface, edata[0], edata[3], edata[1]);
copyTex(texdst, texsrc, nface, edata[0], edata[3], edata[1]);
copyTex(texdst, texsrc, nface, tdata[0], tdata[3], tdata[1]);
nface++;
makeFace(face, normal, radius, vertxpos,
nface, edata[1], edata[3], edata[2]);
copyTex(texdst, texsrc, nface, edata[1], edata[3], edata[2]);
copyTex(texdst, texsrc, nface, tdata[1], tdata[3], tdata[2]);
nface++;
}
}
@@ -2598,13 +2599,14 @@ void mjv_updateActiveFlex(const mjModel* m, mjData* d, mjvScene* scn, const mjvO
if (dim == 2) {
for (int e=0; e < m->flex_elemnum[f]; e++) {
const int* edata = m->flex_elem + m->flex_elemdataadr[f] + e*(dim+1);
const int* tdata = m->flex_elemtexcoord + m->flex_elemdataadr[f] + e*(dim+1);
makeSmooth(face, normal, radius, flg_flat, vertnorm, vertxpos,
nface, edata[0], edata[1], edata[2]);
copyTex(texdst, texsrc, nface, edata[0], edata[1], edata[2]);
copyTex(texdst, texsrc, nface, tdata[0], tdata[1], tdata[2]);
nface++;
makeSmooth(face, normal, -radius, flg_flat, vertnorm, vertxpos,
nface, edata[0], edata[2], edata[1]);
copyTex(texdst, texsrc, nface, edata[0], edata[2], edata[1]);
copyTex(texdst, texsrc, nface, tdata[0], tdata[2], tdata[1]);
nface++;
}
} else {