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Merge pull request #3354 from Nas01010101:fix/ktx-classic-renderer-skip

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PiperOrigin-RevId: 951520219
Change-Id: Ib6a1a8c553140e2e6c99055a579facf51e0d7f5a
This commit is contained in:
Copybara-Service
2026-07-21 09:01:02 -07:00
parent 426cb5481d ce025f0ec3
commit 7bfa10e1e2
1 changed files with 11 additions and 3 deletions
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src/render/classic/render_context.c
+11 -3
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@@ -1388,6 +1388,16 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
int w = m->tex_width[texid];
float plane[4];
// the classic renderer only uploads 3- (RGB) or 4-channel (RGBA) textures. KTX
// and other encoded textures are single-channel blobs for the Filament renderer
// (see LoadKTX); skip them with a warning instead of aborting (issue #3343).
if (m->tex_nchannel[texid] != 3 && m->tex_nchannel[texid] != 4) {
mju_warning("texture %d: classic renderer can't upload %d-channel data, "
"skipping (KTX/encoded textures need the Filament renderer)",
texid, m->tex_nchannel[texid]);
return;
}
// 2D texture
if (m->tex_type[texid] == mjTEXTURE_2D) {
// OpenGL settings
@@ -1413,11 +1423,9 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
if (m->tex_nchannel[texid] == 3) {
type = GL_RGB;
internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_EXT : GL_RGB;
} else if (m->tex_nchannel[texid] == 4) {
} else { // 4 channels, guaranteed by the channel check at the top of the function
type = GL_RGBA;
internaltype = (m->tex_colorspace[texid] == mjCOLORSPACE_SRGB) ? GL_SRGB8_ALPHA8_EXT : GL_RGBA;
} else {
mju_error("Number of channels not supported: %d", m->tex_nchannel[texid]);
}
glTexImage2D(GL_TEXTURE_2D, 0, internaltype, m->tex_width[texid],