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

PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d

introspect/functions.py

@@ -10245,6 +10245,30 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Safely cast an element as mjsMaterial, or return NULL if the element is not an mjsMaterial.',  # pylint: disable=line-too-long
      )),
+    ('mjs_setBuffer',
+     FunctionDecl(
+         name='mjs_setBuffer',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='dest',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjBuffer'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='array',
+                 type=PointerType(
+                     inner_type=ValueType(name='void', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='size',
+                 type=ValueType(name='int'),
+             ),
+         ),
+         doc='Copy buffer.',
+     )),
     ('mjs_setString',
      FunctionDecl(
          name='mjs_setString',

introspect/structs.py

@@ -10011,6 +10011,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='different file for each side of the cube',
              ),
+             StructFieldDecl(
+                 name='data',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjBuffer'),
+                 ),
+                 doc='texture data',
+             ),
              StructFieldDecl(
                  name='hflip',
                  type=ValueType(name='mjtByte'),