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

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PiperOrigin-RevId: 662186527
Change-Id: I469c876681d52964ac971c0bb2ec3517224d3a3d
This commit is contained in:
Alessio Quaglino
2024-08-12 12:26:39 -07:00
committed by Copybara-Service
parent 20cae556ee
commit 851bb6eef4
16 changed files with 267 additions and 95 deletions
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test/user/user_api_test.cc
+69 -25
View File
@@ -15,6 +15,8 @@
// Tests for user/user_api.cc.
#include <array>
#include <cstddef>
#include <cstdint>
#include <filesystem>
#include <memory>
#include <string>
@@ -272,6 +274,30 @@ TEST_F(PluginTest, RecompileCompareObjCache) {
mj_deleteVFS(vfs.get());
}
// tiny RGB 2 x 3 PNG file
static constexpr uint8_t tex1[] = {
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x78, 0xc1, 0xc0, 0xc0,
0xc0, 0xf0, 0xbf, 0xb8, 0xb8, 0x98, 0x81, 0xe1, 0x3f, 0xc3, 0xff, 0xff,
0xff, 0xc5, 0xc4, 0xc4, 0x00, 0x46, 0xd7, 0x07, 0x7f, 0xd2, 0x52, 0xa1,
0x41, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
0x82
};
// previous PNG file, but rotated by 180 degrees
static constexpr uint8_t tex2[] = {
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x10, 0x13, 0x13, 0xfb,
0xff, 0xff, 0x3f, 0xc3, 0x7f, 0x06, 0x96, 0xd8, 0xd8, 0x58, 0x46, 0x46,
0x86, 0x17, 0x0c, 0x0c, 0x00, 0x49, 0x22, 0x06, 0x44, 0xe4, 0x91, 0xb8,
0x83, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
0x82
};
TEST_F(PluginTest, RecompileComparePngCache) {
static constexpr char xml[] = R"(
<mujoco>
@@ -286,31 +312,6 @@ TEST_F(PluginTest, RecompileComparePngCache) {
</mujoco>
)";
// tiny RGB 2 x 3 PNG file
static constexpr unsigned char tex1[] = {
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x78, 0xc1, 0xc0, 0xc0,
0xc0, 0xf0, 0xbf, 0xb8, 0xb8, 0x98, 0x81, 0xe1, 0x3f, 0xc3, 0xff, 0xff,
0xff, 0xc5, 0xc4, 0xc4, 0x00, 0x46, 0xd7, 0x07, 0x7f, 0xd2, 0x52, 0xa1,
0x41, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
0x82
};
// previous PNG file, but rotated by 180 degrees
static constexpr unsigned char tex2[] = {
0x89, 0x50, 0x4e, 0x47, 0x0d, 0x0a, 0x1a, 0x0a, 0x00, 0x00, 0x00, 0x0d,
0x49, 0x48, 0x44, 0x52, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02,
0x08, 0x02, 0x00, 0x00, 0x00, 0x12, 0x16, 0xf1, 0x4d, 0x00, 0x00, 0x00,
0x1c, 0x49, 0x44, 0x41, 0x54, 0x08, 0xd7, 0x63, 0x10, 0x13, 0x13, 0xfb,
0xff, 0xff, 0x3f, 0xc3, 0x7f, 0x06, 0x96, 0xd8, 0xd8, 0x58, 0x46, 0x46,
0x86, 0x17, 0x0c, 0x0c, 0x00, 0x49, 0x22, 0x06, 0x44, 0xe4, 0x91, 0xb8,
0x83, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4e, 0x44, 0xae, 0x42, 0x60,
0x82
};
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "tex.png", tex1, sizeof(tex1));
@@ -334,6 +335,49 @@ TEST_F(PluginTest, RecompileComparePngCache) {
mj_deleteVFS(vfs.get());
}
// -------------------------------- test textures ------------------------------
TEST_F(PluginTest, TextureFromBuffer) {
mjSpec* spec = mj_makeSpec();
mjsTexture* t1 = mjs_addTexture(spec);
mjs_setString(t1->name, "tex1");
t1->type = mjTEXTURE_2D;
t1->width = 3;
t1->height = 2;
t1->nchannel = 3;
mjs_setBuffer(t1->data, (std::byte*)tex1, 18);
mjsTexture* t2 = mjs_addTexture(spec);
mjs_setString(t2->name, "tex2");
t2->type = mjTEXTURE_2D;
t2->width = 3;
t2->height = 2;
t2->nchannel = 3;
mjs_setBuffer(t2->data, (std::byte*)tex2, 18);
mjsMaterial* mat = mjs_addMaterial(spec, nullptr);
mjs_setString(mat->name, "mat");
mjs_setInStringVec(mat->textures, mjTEXROLE_RGB, "tex1");
mjs_setInStringVec(mat->textures, mjTEXROLE_ORM, "tex2");
mjsGeom* geom = mjs_addGeom(mjs_findBody(spec, "world"), nullptr);
mjs_setString(geom->material, "mat");
geom->size[0] = 1;
mjModel* m = mj_compile(spec, nullptr);
EXPECT_THAT(m, NotNull());
EXPECT_EQ(m->ntex, 2);
std::array<char, 1024> err;
std::array<char, 1024> str;
mj_saveXMLString(spec, str.data(), str.size(), err.data(), err.size());
EXPECT_STREQ(err.data(), "XML Error: no support for buffer textures.");
mj_deleteModel(m);
mj_deleteSpec(spec);
}
// -------------------------------- test attach --------------------------------
static constexpr char xml_child[] = R"(