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

PiperOrigin-RevId: 949427127 Change-Id: I607af41aefdefd6d22602889e6982d64df8b380b
2026-07-17 01:23:40 -07:00
parent 54bf99f116 03e484116d
commit b75470a1e0
13 changed files with 98 additions and 15 deletions
@@ -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)
 ------------------------------

@@ -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