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Read normals and textures from OBJ, do not duplicate vertices.

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PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
This commit is contained in:
Alessio Quaglino
2023-02-17 10:14:25 -08:00
committed by Copybara-Service
parent 35967a30d9
commit 9756ed0d80
16 changed files with 279 additions and 168 deletions
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include/mujoco/mjxmacro.h
+9 -3
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@@ -74,7 +74,8 @@
X( nlight ) \
X( nmesh ) \
X( nmeshvert ) \
X( nmeshtexvert ) \
X( nmeshnormal ) \
X( nmeshtexcoord ) \
X( nmeshface ) \
X( nmeshgraph ) \
X( nskin ) \
@@ -263,14 +264,19 @@
X( float, light_specular, nlight, 3 ) \
X( int, mesh_vertadr, nmesh, 1 ) \
X( int, mesh_vertnum, nmesh, 1 ) \
X( int, mesh_normaladr, nmesh, 1 ) \
X( int, mesh_normalnum, nmesh, 1 ) \
X( int, mesh_texcoordadr, nmesh, 1 ) \
X( int, mesh_texcoordnum, nmesh, 1 ) \
X( int, mesh_faceadr, nmesh, 1 ) \
X( int, mesh_facenum, nmesh, 1 ) \
X( int, mesh_graphadr, nmesh, 1 ) \
X( float, mesh_vert, nmeshvert, 3 ) \
X( float, mesh_normal, nmeshvert, 3 ) \
X( float, mesh_texcoord, nmeshtexvert, 2 ) \
X( float, mesh_normal, nmeshnormal, 3 ) \
X( float, mesh_texcoord, nmeshtexcoord, 2 ) \
X( int, mesh_face, nmeshface, 3 ) \
X( int, mesh_facenormal, nmeshface, 3 ) \
X( int, mesh_facetexcoord, nmeshface, 3 ) \
X( int, mesh_graph, nmeshgraph, 1 ) \
X( int, skin_matid, nskin, 1 ) \
X( int, skin_group, nskin, 1 ) \