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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/xml/xml_native_reader.cc
+6 -2
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@@ -324,8 +324,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"deformable", "*", "0"},
{"<"},
{"flex", "*", "12", "name", "group", "dim", "radius", "material",
"rgba", "flatskin", "body", "vertex", "element", "texcoord", "node"},
{"flex", "*", "13", "name", "group", "dim", "radius", "material",
"rgba", "flatskin", "body", "vertex", "element", "texcoord", "facetexcoord", "node"},
{"<"},
{"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
"friction", "solmix", "solref", "solimp", "margin", "gap",
@@ -1354,6 +1354,10 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
if (texcoord.has_value()) {
mjs_setFloat(flex->texcoord, texcoord->data(), texcoord->size());
}
auto facetexcoord = ReadAttrVec<int>(elem, "facetexcoord");
if (facetexcoord.has_value()) {
mjs_setInt(flex->facetexcoord, facetexcoord->data(), facetexcoord->size());
}
// contact subelement
XMLElement* cont = FirstChildElement(elem, "contact");