Add option to mjspec for creating a texture directly from a buffer.

PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d

doc/APIreference/functions.rst

@@ -4417,6 +4417,15 @@ Safely cast an element as mjsMaterial, or return NULL if the element is not an m
 
 Attribute setters
 ^^^^^^^^^^^^^^^^^
+.. _mjs_setBuffer:
+
+mjs_setBuffer
+~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_setBuffer
+
+Copy buffer.
+
 .. _mjs_setString:
 
 mjs_setString

doc/changelog.rst

@@ -5,6 +5,13 @@ Changelog
 Upcoming version (not yet released)
 -----------------------------------
 
+General
+^^^^^^^
+1. Add :ref:`mjSpec` option for creating a texture from a buffer.
+
+Upcoming version (not yet released)
+-----------------------------------
+
 General
 ^^^^^^^
 - :ref:`shellinertia <body-geom-shellinertia>` is now supported by all geom types.
@@ -22,7 +29,7 @@ Version 3.2.1 (Aug 5, 2024)
 
 General
 ^^^^^^^
-1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
+1. Renamed ``mjModel.tex_rgb`` to ``mjModel.tex_data``.
 2. Added a new :ref:`autoreset<option-flag-autoreset>` flag to disable automatic reset when NaNs or infinities are
    detected.
 3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures

doc/includes/references.h

@@ -2026,6 +2026,9 @@ typedef struct mjsTexture_ {       // texture specification
   // method 3: separate files
   mjStringVec* cubefiles;          // different file for each side of the cube
 
+  // method 4: from buffer read by user
+  mjBuffer* data;                  // texture data
+
   // flip options
   mjtByte hflip;                   // horizontal flip
   mjtByte vflip;                   // vertical flip
@@ -3584,6 +3587,7 @@ mjsHField* mjs_asHField(mjsElement* element);
 mjsSkin* mjs_asSkin(mjsElement* element);
 mjsTexture* mjs_asTexture(mjsElement* element);
 mjsMaterial* mjs_asMaterial(mjsElement* element);
+void mjs_setBuffer(mjBuffer* dest, const void* array, int size);
 void mjs_setString(mjString* dest, const char* text);
 void mjs_setStringVec(mjStringVec* dest, const char* text);
 mjtByte mjs_setInStringVec(mjStringVec* dest, int i, const char* text);