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Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.

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PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596
This commit is contained in:
Tom Erez
2024-07-19 09:28:34 -07:00
committed by Copybara-Service
parent 8a8a44a4db
commit 796173170c
14 changed files with 99 additions and 27 deletions
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include/mujoco/mjrender.h
+3 -3
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@@ -115,9 +115,9 @@ struct mjrContext_ { // custom OpenGL context
unsigned int auxColor_r[mjNAUX]; // auxiliary color buffer for resolving
// materials with textures
int mat_texid[mjMAXMATERIAL*mjNTEXMAT]; // material texture ids (-1: no texture)
int mat_texuniform[mjMAXMATERIAL]; // texture repetition for 2d mapping
int mat_texrepeat[mjMAXMATERIAL*2]; // texture repetition for 2d mapping
int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
int mat_texuniform[mjMAXMATERIAL]; // texture repetition for 2d mapping
int mat_texrepeat[mjMAXMATERIAL*2]; // texture repetition for 2d mapping
// texture objects and info
int ntexture; // number of allocated textures