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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/user/user_model.cc
+3 -3
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@@ -2520,10 +2520,10 @@ void mjCModel::CopyObjects(mjModel* m) {
mjCMaterial* pmat = materials_[i];
// set fields
m->mat_texid[mjNTEXMAT*i] = pmat->texid;
for (int j=1; j<mjNTEXMAT; j++) {
m->mat_texid[mjNTEXMAT*i+j] = -1;
for (int j=0; j<mjNTEXROLE; j++) {
m->mat_texid[mjNTEXROLE*i+j] = -1;
}
m->mat_texid[mjNTEXROLE*i+mjTEXROLE_RGB] = pmat->texid;
m->mat_texuniform[i] = pmat->texuniform;
mjuu_copyvec(m->mat_texrepeat+2*i, pmat->texrepeat, 2);
m->mat_emission[i] = pmat->emission;