chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #3387 from bd-pmorais:pmorais/renderer-live-mat-texid

Browse Source 
PiperOrigin-RevId: 949427127
Change-Id: I607af41aefdefd6d22602889e6982d64df8b380b
This commit is contained in:
Copybara-Service
2026-07-17 01:23:40 -07:00
parent 54bf99f116 03e484116d
commit b75470a1e0
13 changed files with 98 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+5
View File
@@ -86,6 +86,11 @@ Bug fixes
in-gap contacts on multi-geom bodies.
- Fixed a bug in the mesh compiler where normals were scaled as vectors rather than covectors.
.. admonition:: Breaking ABI changes
:class: attention
- Added ``texid``, ``texuniform`` and ``texrepeat`` fields to ``mjvGeom``.
Version 3.10.0 (June 22, 2026)
------------------------------
doc/includes/references.h
+3
View File
@@ -3219,6 +3219,8 @@ typedef struct mjvGeom_ { // abstract geom
int objid; // mujoco object id; -1 for decor
int category; // visual category
int matid; // material id; -1: no textured material
int texid; // texture id; -1: none
int texuniform; // uniform cube mapping
int texcoord; // mesh or flex geom has texture coordinates
int segid; // segmentation id; -1: not shown
@@ -3233,6 +3235,7 @@ typedef struct mjvGeom_ { // abstract geom
float specular; // specular coef
float shininess; // shininess coef
float reflectance; // reflectance coef
float texrepeat[2]; // texture repetition for 2d mapping
char label[100]; // text label
include/mujoco/mjvisualize.h
+3
View File
@@ -231,6 +231,8 @@ typedef struct mjvGeom_ { // abstract geom
int objid; // mujoco object id; -1 for decor
int category; // visual category
int matid; // material id; -1: no textured material
int texid; // texture id; -1: none
int texuniform; // uniform cube mapping
int texcoord; // mesh or flex geom has texture coordinates
int segid; // segmentation id; -1: not shown
@@ -245,6 +247,7 @@ typedef struct mjvGeom_ { // abstract geom
float specular; // specular coef
float shininess; // shininess coef
float reflectance; // reflectance coef
float texrepeat[2]; // texture repetition for 2d mapping
char label[100]; // text label
python/mujoco/introspect/structs.py
+18
View File
@@ -10371,6 +10371,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='material id; -1: no textured material',
),
StructFieldDecl(
name='texid',
type=ValueType(name='int'),
doc='texture id; -1: none',
),
StructFieldDecl(
name='texuniform',
type=ValueType(name='int'),
doc='uniform cube mapping',
),
StructFieldDecl(
name='texcoord',
type=ValueType(name='int'),
@@ -10433,6 +10443,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='float'),
doc='reflectance coef',
),
StructFieldDecl(
name='texrepeat',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(2,),
),
doc='texture repetition for 2d mapping',
),
StructFieldDecl(
name='label',
type=ArrayType(
python/mujoco/structs.cc
+3
View File
@@ -1186,6 +1186,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(objid);
X(category);
X(matid);
X(texid);
X(texuniform);
X(texcoord);
X(segid);
X(emission);
@@ -1202,6 +1204,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
X(pos);
X(mat);
X(rgba);
X(texrepeat);
#undef X
DefinePyStr(mjvGeom, "label", &raw::MjvGeom::label);
python/mujoco/structs.h
+1
View File
@@ -832,6 +832,7 @@ class MjWrapper<raw::MjvGeom> : public WrapperBase<raw::MjvGeom> {
X(pos);
X(mat);
X(rgba);
X(texrepeat);
#undef X
};
python/mujoco/structs_wrappers.cc
+4 -2
View File
@@ -1193,7 +1193,8 @@ MjvGeomWrapper::MjWrapper()
static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0]) * 9);
return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
}()),
X(rgba) {
X(rgba),
X(texrepeat) {
mjv_initGeom(ptr_, mjGEOM_NONE, nullptr, nullptr, nullptr, nullptr);
}
@@ -1205,7 +1206,8 @@ MjvGeomWrapper::MjWrapper(raw::MjvGeom* ptr, py::handle owner)
static_assert(sizeof(ptr_->mat) == sizeof(ptr_->mat[0]) * 9);
return InitPyArray(std::array{3, 3}, ptr_->mat, owner_);
}()),
X(rgba) {}
X(rgba),
X(texrepeat) {}
#undef X
MjvGeomWrapper::MjWrapper(const MjvGeomWrapper& other) : MjvGeomWrapper() {
src/engine/engine_vis_visualize.c
+8
View File
@@ -241,6 +241,10 @@ static void setMaterial(const mjModel* m, mjvGeom* geom, int matid, const float*
// set texture
if (flags[mjVIS_TEXTURE] && matid >= 0) {
geom->matid = matid;
geom->texid = m->mat_texid[matid*mjNTEXROLE + mjTEXROLE_RGB];
geom->texuniform = m->mat_texuniform[matid];
geom->texrepeat[0] = m->mat_texrepeat[2*matid];
geom->texrepeat[1] = m->mat_texrepeat[2*matid+1];
}
// scale alpha for dynamic geoms only
@@ -379,6 +383,10 @@ void mjv_initGeom(mjvGeom* geom, int type, const mjtNum* size,
// set defaults that cannot be assigned via this function
geom->dataid = -1;
geom->matid = -1;
geom->texid = -1;
geom->texuniform = 0;
geom->texrepeat[0] = 0;
geom->texrepeat[1] = 0;
geom->texcoord = 0;
geom->emission = 0;
geom->specular = 0.5;
src/experimental/filament/compat/scene_geom_util.cc
+14 -4
View File
@@ -174,6 +174,9 @@ static void UpdateGeomMaterial(mjrfRenderable* renderable, const mjvGeom& geom,
material.roughness_texture = get_texture(mjTEXROLE_ROUGHNESS);
material.occlusion_texture = get_texture(mjTEXROLE_OCCLUSION);
}
if (geom.texid >= 0) {
material.color_texture = model_objs->GetTexture(geom.texid);
}
material.reflectance = geom.reflectance;
material.emissive = geom.emission;
@@ -200,14 +203,21 @@ static void UpdateGeomMaterial(mjrfRenderable* renderable, const mjvGeom& geom,
// the programmatic UVs.
if (material.color_texture) {
const bool tex_uniform = model->mat_texuniform[geom.matid];
bool tex_uniform;
float tex_repeat[2];
if (geom.texid >= 0) {
tex_uniform = geom.texuniform;
tex_repeat[0] = geom.texrepeat[0];
tex_repeat[1] = geom.texrepeat[1];
} else {
tex_uniform = model->mat_texuniform[geom.matid];
tex_repeat[0] = model->mat_texrepeat[(geom.matid * 2) + 0];
tex_repeat[1] = model->mat_texrepeat[(geom.matid * 2) + 1];
}
if (mjrf_getTextureSamplerType(material.color_texture) == mjTEXTURE_2D) {
// For 2D textures, `tex_repeat` specifies how many times the texture
// image is repeated. The `tex_uniform` flag determines if the repetition
// is applied at in object space (false) or in world space (true).
float tex_repeat[2];
tex_repeat[0] = model->mat_texrepeat[(geom.matid * 2) + 0];
tex_repeat[1] = model->mat_texrepeat[(geom.matid * 2) + 1];
material.uv_scale[0] = tex_repeat[0];
material.uv_scale[1] = tex_repeat[1];
src/render/classic/render_gl3.c
+18 -9
View File
@@ -61,10 +61,19 @@ enum {
// enable/disable texture mapping
static void settexture(int type, int state, const mjrContext* con, const mjvGeom* geom) {
float plane[4], scl[2];
int texid = -1;
int texid = -1, texuniform = 0;
float texrepeat[2] = {0, 0};
if (geom) {
if (geom->matid >= 0) {
if (geom->texid >= 0) {
texid = geom->texid;
texuniform = geom->texuniform;
texrepeat[0] = geom->texrepeat[0];
texrepeat[1] = geom->texrepeat[1];
} else if (geom->matid >= 0) {
texid = con->mat_texid[mjNTEXROLE * geom->matid + mjTEXROLE_RGB];
texuniform = con->mat_texuniform[geom->matid];
texrepeat[0] = con->mat_texrepeat[geom->matid*2];
texrepeat[1] = con->mat_texrepeat[geom->matid*2+1];
}
}
@@ -119,8 +128,8 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
glBindTexture(GL_TEXTURE_2D, con->texture[texid]);
// determine scaling, adjust for pre-scaled geoms
scl[0] = con->mat_texrepeat[geom->matid*2];
scl[1] = con->mat_texrepeat[geom->matid*2+1];
scl[0] = texrepeat[0];
scl[1] = texrepeat[1];
if (geom->dataid >= 0) {
if (geom->size[0] > 0) {
scl[0] = scl[0] / mju_max(mjMINVAL, geom->size[0]);
@@ -132,7 +141,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
}
// uniform: repeat relative to spatial units rather than object
if (con->mat_texuniform[geom->matid]) {
if (texuniform) {
if (geom->size[0] > 0) {
scl[0] = scl[0] * geom->size[0];
}
@@ -171,11 +180,11 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
// set mapping : cube
if (type == mjtexREGULAR) {
mjr_setf4(plane, con->mat_texuniform[geom->matid] ? geom->size[0] : 1, 0, 0, 0);
mjr_setf4(plane, texuniform ? geom->size[0] : 1, 0, 0, 0);
glTexGenfv(GL_S, GL_OBJECT_PLANE, plane);
mjr_setf4(plane, 0, con->mat_texuniform[geom->matid] ? geom->size[1] : 1, 0, 0);
mjr_setf4(plane, 0, texuniform ? geom->size[1] : 1, 0, 0);
glTexGenfv(GL_T, GL_OBJECT_PLANE, plane);
mjr_setf4(plane, 0, 0, con->mat_texuniform[geom->matid] ? geom->size[2] : 1, 0);
mjr_setf4(plane, 0, 0, texuniform ? geom->size[2] : 1, 0);
glTexGenfv(GL_R, GL_OBJECT_PLANE, plane);
}
@@ -1317,7 +1326,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
if (con->textureType[i] == mjTEXTURE_SKYBOX) {
// save first skybox texture id in tempgeom
memset(&tempgeom, 0, sizeof(mjvGeom));
tempgeom.matid = mjMAXMATERIAL - 1;
tempgeom.texid = i;
// modify settings
glDisable(GL_LIGHTING);
unity/Runtime/Bindings/MjBindings.cs
+3
View File
@@ -5974,6 +5974,8 @@ public unsafe struct mjvGeom_ {
public int objid;
public int category;
public int matid;
public int texid;
public int texuniform;
public int texcoord;
public int segid;
public fixed float size[3];
@@ -5984,6 +5986,7 @@ public unsafe struct mjvGeom_ {
public float specular;
public float shininess;
public float reflectance;
public fixed float texrepeat[2];
public fixed char label[100];
public float camdist;
public float modelrbound;
wasm/codegen/generated/bindings.cc
+3
View File
@@ -6099,6 +6099,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("size", &MjvGeom::size)
.property("specular", &MjvGeom::specular, &MjvGeom::set_specular, reference())
.property("texcoord", &MjvGeom::texcoord, &MjvGeom::set_texcoord, reference())
.property("texid", &MjvGeom::texid, &MjvGeom::set_texid, reference())
.property("texrepeat", &MjvGeom::texrepeat)
.property("texuniform", &MjvGeom::texuniform, &MjvGeom::set_texuniform, reference())
.property("transparent", &MjvGeom::transparent, &MjvGeom::set_transparent, reference())
.property("type", &MjvGeom::type, &MjvGeom::set_type, reference());
emscripten::class_<MjvLight>("MjvLight")
wasm/codegen/generated/bindings.h
+15
View File
@@ -1850,6 +1850,18 @@ struct MjvGeom {
void set_matid(int value) {
ptr_->matid = value;
}
int texid() const {
return ptr_->texid;
}
void set_texid(int value) {
ptr_->texid = value;
}
int texuniform() const {
return ptr_->texuniform;
}
void set_texuniform(int value) {
ptr_->texuniform = value;
}
int texcoord() const {
return ptr_->texcoord;
}
@@ -1898,6 +1910,9 @@ struct MjvGeom {
void set_reflectance(float value) {
ptr_->reflectance = value;
}
emscripten::val texrepeat() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->texrepeat));
}
emscripten::val label() const {
return emscripten::val(emscripten::typed_memory_view(100, ptr_->label));
}