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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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src/render/render_context.c
+6 -6
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@@ -1307,9 +1307,9 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
mju_error("Maximum number of materials is %d", mjMAXMATERIAL);
}
for (int i=0; i < m->nmat; i++) {
if (m->mat_texid[i*mjNTEXMAT] >= 0) {
for (int j=0; j < mjNTEXMAT; j++) {
con->mat_texid[i*mjNTEXMAT + j] = m->mat_texid[i*mjNTEXMAT + j];
if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {
for (int j=0; j < mjNTEXROLE; j++) {
con->mat_texid[i*mjNTEXROLE + j] = m->mat_texid[i*mjNTEXROLE + j];
}
con->mat_texuniform[i] = m->mat_texuniform[i];
con->mat_texrepeat[2*i] = m->mat_texrepeat[2*i];
@@ -1322,10 +1322,10 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
if (m->nmat >= mjMAXMATERIAL-2) {
mju_error("With skybox, maximum number of materials is %d", mjMAXMATERIAL);
}
con->mat_texid[mjNTEXMAT * (mjMAXMATERIAL-1)] = i;
for (int j=1; j < mjNTEXMAT; j++) {
con->mat_texid[mjNTEXMAT * (mjMAXMATERIAL-1) + j] = -1;
for (int j=0; j < mjNTEXROLE; j++) {
con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + j] = -1;
}
con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + mjTEXROLE_RGB] = i;
break;
}