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Always try to find the skybox texture, even if there are no materials in the MJCF. Fixes #2412

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Before the fix this only occured if the MJCF contained 0 materials.

PiperOrigin-RevId: 795510952
Change-Id: I0a36c275e6006f80dc9a5ba6b9c6040ce21187c9
This commit is contained in:
Google DeepMind
2025-08-15 09:52:39 -07:00
committed by Copybara-Service
parent b566ef2883
commit 931036adda
1 changed files with 14 additions and 16 deletions
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src/render/render_context.c
+14 -16
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@@ -1303,23 +1303,7 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
memset(con->mat_texid, -1, sizeof(con->mat_texid));
memset(con->mat_texuniform, 0, sizeof(con->mat_texuniform));
memset(con->mat_texrepeat, 0, sizeof(con->mat_texrepeat));
if (!m->nmat || !m->ntex) {
return;
}
if (m->nmat >= mjMAXMATERIAL-1) {
mju_error("Maximum number of materials is %d, got %d", mjMAXMATERIAL, m->nmat);
}
for (int i=0; i < m->nmat; i++) {
if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {
for (int j=0; j < mjNTEXROLE; 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];
con->mat_texrepeat[2*i+1] = m->mat_texrepeat[2*i+1];
}
}
// find skybox texture
for (int i=0; i < m->ntex; i++) {
if (m->tex_type[i] == mjTEXTURE_SKYBOX) {
@@ -1335,6 +1319,20 @@ static void makeMaterial(const mjModel* m, mjrContext* con) {
break;
}
}
if (m->nmat >= mjMAXMATERIAL-1) {
mju_error("Maximum number of materials is %d, got %d", mjMAXMATERIAL, m->nmat);
}
for (int i=0; i < m->nmat; i++) {
if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {
for (int j=0; j < mjNTEXROLE; 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];
con->mat_texrepeat[2*i+1] = m->mat_texrepeat[2*i+1];
}
}
}