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

PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596

doc/APIreference/APItypes.rst

@@ -175,6 +175,17 @@ Texture types, specifying how the texture will be mapped. These values are used
 .. mujoco-include:: mjtTexture
 
 
+.. _mjtTextureRole:
+
+mjtTextureRole
+~~~~~~~~~~~~~~
+
+Texture roles, specifying how the renderer should interpret the texture.  Note that the MuJoCo built-in renderer only
+uses RGB textures.  These values are used to store the texture index in the material's array ``m->mat_texid``.
+
+.. mujoco-include:: mjtTextureRole
+
+
 .. _mjtIntegrator:
 
 mjtIntegrator

doc/includes/references.h

@@ -477,6 +477,19 @@ typedef enum mjtTexture_ {        // type of texture
   mjTEXTURE_CUBE,                 // cube texture, suitable for all other geom types
   mjTEXTURE_SKYBOX                // cube texture used as skybox
 } mjtTexture;
+typedef enum mjtTextureRole_ {    // role of texture map in rendering
+  mjTEXROLE_USER      = 0,        // unspecified
+  mjTEXROLE_RGB,                  // base color (albedo)
+  mjTEXROLE_OCCLUSION,            // ambient occlusion
+  mjTEXROLE_ROUGHNESS,            // roughness
+  mjTEXROLE_METALLIC,             // metallic
+  mjTEXROLE_NORMAL,               // normal (bump) map
+  mjTEXROLE_OPACITY,              // transperancy
+  mjTEXROLE_EMISSIVE,             // light emission
+  mjTEXROLE_RGBA,                 // base color, opacity
+  mjTEXROLE_ORM,                  // occlusion, roughness, metallic
+  mjNTEXROLE
+} mjtTextureRole;
 typedef enum mjtIntegrator_ {     // integrator mode
   mjINT_EULER         = 0,        // semi-implicit Euler
   mjINT_RK4,                      // 4th-order Runge Kutta
@@ -1217,7 +1230,7 @@ struct mjModel_ {
   int*      tex_pathadr;          // address of texture asset path; -1: none  (ntex x 1)
 
   // materials
-  int*      mat_texid;            // indices of textures; -1: none            (nmat x mjNTEXMAT)
+  int*      mat_texid;            // indices of textures; -1: none            (nmat x mjNTEXROLE)
   mjtByte*  mat_texuniform;       // make texture cube uniform                (nmat x 1)
   float*    mat_texrepeat;        // texture repetition for 2d mapping        (nmat x 2)
   float*    mat_emission;         // emission (x rgb)                         (nmat x 1)
@@ -1544,9 +1557,9 @@ 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_texid[mjMAXMATERIAL*mjNTEXROLE];       // material texture ids (-1: no texture)
-  int mat_texuniform[mjMAXMATERIAL];       // texture repetition for 2d mapping
+  int mat_texuniform[mjMAXMATERIAL];            // texture repetition for 2d mapping
-  int mat_texrepeat[mjMAXMATERIAL*2];      // 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

include/mujoco/mjmodel.h

@@ -42,7 +42,6 @@
 #define mjNIMP          5         // number of solver impedance parameters
 #define mjNSOLVER       200       // size of one mjData.solver array
 #define mjNISLAND       20        // number of mjData.solver arrays
-#define mjNTEXMAT       6         // number of textures per material
 
 //---------------------------------- enum types (mjt) ----------------------------------------------
 
@@ -133,6 +132,21 @@ typedef enum mjtTexture_ {        // type of texture
 } mjtTexture;
 
 
+typedef enum mjtTextureRole_ {    // role of texture map in rendering
+  mjTEXROLE_USER      = 0,        // unspecified
+  mjTEXROLE_RGB,                  // base color (albedo)
+  mjTEXROLE_OCCLUSION,            // ambient occlusion
+  mjTEXROLE_ROUGHNESS,            // roughness
+  mjTEXROLE_METALLIC,             // metallic
+  mjTEXROLE_NORMAL,               // normal (bump) map
+  mjTEXROLE_OPACITY,              // transperancy
+  mjTEXROLE_EMISSIVE,             // light emission
+  mjTEXROLE_RGBA,                 // base color, opacity
+  mjTEXROLE_ORM,                  // occlusion, roughness, metallic
+  mjNTEXROLE
+} mjtTextureRole;
+
+
 typedef enum mjtIntegrator_ {     // integrator mode
   mjINT_EULER         = 0,        // semi-implicit Euler
   mjINT_RK4,                      // 4th-order Runge Kutta
@@ -930,7 +944,7 @@ struct mjModel_ {
   int*      tex_pathadr;          // address of texture asset path; -1: none  (ntex x 1)
 
   // materials
-  int*      mat_texid;            // indices of textures; -1: none            (nmat x mjNTEXMAT)
+  int*      mat_texid;            // indices of textures; -1: none            (nmat x mjNTEXROLE)
   mjtByte*  mat_texuniform;       // make texture cube uniform                (nmat x 1)
   float*    mat_texrepeat;        // texture repetition for 2d mapping        (nmat x 2)
   float*    mat_emission;         // emission (x rgb)                         (nmat x 1)

include/mujoco/mjrender.h

@@ -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_texid[mjMAXMATERIAL*mjNTEXROLE];       // material texture ids (-1: no texture)
-  int mat_texuniform[mjMAXMATERIAL];       // texture repetition for 2d mapping
+  int mat_texuniform[mjMAXMATERIAL];            // texture repetition for 2d mapping
-  int mat_texrepeat[mjMAXMATERIAL*2];      // 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

include/mujoco/mjxmacro.h

@@ -414,7 +414,7 @@
     X   ( int,     tex_adr,               ntex,          1                    ) \
     X   ( mjtByte, tex_data,              ntexdata,      1                    ) \
     XMJV( int,     tex_pathadr,           ntex,          1                    ) \
-    XMJV( int,     mat_texid,             nmat,          mjNTEXMAT            ) \
+    XMJV( int,     mat_texid,             nmat,          mjNTEXROLE            ) \
     XMJV( mjtByte, mat_texuniform,        nmat,          1                    ) \
     XMJV( float,   mat_texrepeat,         nmat,          2                    ) \
     XMJV( float,   mat_emission,          nmat,          1                    ) \

introspect/enums.py

@@ -119,6 +119,24 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjTEXTURE_SKYBOX', 2),
          ]),
      )),
+    ('mjtTextureRole',
+     EnumDecl(
+         name='mjtTextureRole',
+         declname='enum mjtTextureRole_',
+         values=dict([
+             ('mjTEXROLE_USER', 0),
+             ('mjTEXROLE_RGB', 1),
+             ('mjTEXROLE_OCCLUSION', 2),
+             ('mjTEXROLE_ROUGHNESS', 3),
+             ('mjTEXROLE_METALLIC', 4),
+             ('mjTEXROLE_NORMAL', 5),
+             ('mjTEXROLE_OPACITY', 6),
+             ('mjTEXROLE_EMISSIVE', 7),
+             ('mjTEXROLE_RGBA', 8),
+             ('mjTEXROLE_ORM', 9),
+             ('mjNTEXROLE', 10),
+         ]),
+     )),
     ('mjtIntegrator',
      EnumDecl(
          name='mjtIntegrator',

introspect/structs.py

@@ -2925,7 +2925,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='indices of textures; -1: none            (nmat x mjNTEXMAT)',  # pylint: disable=line-too-long
+                 doc='indices of textures; -1: none            (nmat x mjNTEXROLE)',  # pylint: disable=line-too-long
              ),
              StructFieldDecl(
                  name='mat_texuniform',
@@ -7967,7 +7967,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  name='mat_texid',
                  type=ArrayType(
                      inner_type=ValueType(name='int'),
-                     extents=(600,),
+                     extents=(1000,),
                  ),
                  doc='material texture ids (-1: no texture)',
              ),

python/mujoco/indexer_xmacro.h

@@ -168,7 +168,7 @@
   X( float,   light_, specular,      nlight,  3 )
 
 #define MJMODEL_MATERIAL                   \
-  X( int,     mat_, texid,       nmat, mjNTEXMAT ) \
+  X( int,     mat_, texid,       nmat, mjNTEXROLE ) \
   X( mjtByte, mat_, texuniform,  nmat, 1 ) \
   X( float,   mat_, texrepeat,   nmat, 2 ) \
   X( float,   mat_, emission,    nmat, 1 ) \

python/mujoco/usd/exporter.py

@@ -252,7 +252,9 @@ class USDExporter:
     assert geom_name not in self.geom_names
 
     texture_file = (
-        self.texture_files[self.model.mat_texid[geom.matid][0]]
+        self.texture_files[
+            self.model.mat_texid[geom.matid][mujoco.mjTEXROLE_RGB]
+        ]
         if geom.matid != -1
         else None
     )

src/engine/engine_print.c

@@ -334,7 +334,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
   const int* object_class;
 
 #define X(type, name, num, sz)                                              \
-  if (&m->num == object_class && (strncmp(#name, "name_", 5) != 0) && sz) { \
+  if (&m->num == object_class && (strncmp(#name, "name_", 5) != 0) && sz > 0) { \
     const char* format = _Generic(*m->name,                                 \
                                   double:  float_format,                    \
                                   float:   float_format,                    \

src/render/render_context.c

@@ -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) {
+    if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {
-      for (int j=0; j < mjNTEXMAT; j++) {
+      for (int j=0; j < mjNTEXROLE; j++) {
-        con->mat_texid[i*mjNTEXMAT + j] = m->mat_texid[i*mjNTEXMAT + 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=0; j < mjNTEXROLE; j++) {
-      for (int j=1; j < mjNTEXMAT; j++) {
+        con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + j] = -1;
-        con->mat_texid[mjNTEXMAT * (mjMAXMATERIAL-1) + j] = -1;
       }
+      con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + mjTEXROLE_RGB] = i;
 
       break;
     }

src/render/render_gl3.c

@@ -63,7 +63,9 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
   float plane[4], scl[2];
   int texid = -1;
   if (geom) {
-    texid = (geom->matid == -1) ? -1 : con->mat_texid[mjNTEXMAT * geom->matid];
+    if (geom->matid >= 0) {
+      texid = con->mat_texid[mjNTEXROLE * geom->matid + mjTEXROLE_RGB];
+    }
   }
 
   // shadow

src/user/user_model.cc

@@ -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=0; j<mjNTEXROLE; j++) {
-    for (int j=1; j<mjNTEXMAT; j++) {
+      m->mat_texid[mjNTEXROLE*i+j] = -1;
-      m->mat_texid[mjNTEXMAT*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;

unity/Runtime/Bindings/MjBindings.cs

@@ -50,7 +50,6 @@ public const int mjNREF = 2;
 public const int mjNIMP = 5;
 public const int mjNSOLVER = 200;
 public const int mjNISLAND = 20;
-public const int mjNTEXMAT = 6;
 public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true;
 public const bool mjEXTERNC = true;
 public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true;
@@ -209,6 +208,19 @@ public enum mjtTexture : int{
   mjTEXTURE_CUBE = 1,
   mjTEXTURE_SKYBOX = 2,
 }
+public enum mjtTextureRole : int{
+  mjTEXROLE_USER = 0,
+  mjTEXROLE_RGB = 1,
+  mjTEXROLE_OCCLUSION = 2,
+  mjTEXROLE_ROUGHNESS = 3,
+  mjTEXROLE_METALLIC = 4,
+  mjTEXROLE_NORMAL = 5,
+  mjTEXROLE_OPACITY = 6,
+  mjTEXROLE_EMISSIVE = 7,
+  mjTEXROLE_RGBA = 8,
+  mjTEXROLE_ORM = 9,
+  mjNTEXROLE = 10,
+}
 public enum mjtIntegrator : int{
   mjINT_EULER = 0,
   mjINT_RK4 = 1,
@@ -5631,7 +5643,7 @@ public unsafe struct mjrContext_ {
   public fixed uint auxFBO_r[10];
   public fixed uint auxColor[10];
   public fixed uint auxColor_r[10];
-  public fixed int mat_texid[600];
+  public fixed int mat_texid[1000];
   public fixed int mat_texuniform[100];
   public fixed int mat_texrepeat[200];
   public int ntexture;