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

PiperOrigin-RevId: 949427127
Change-Id: I607af41aefdefd6d22602889e6982d64df8b380b

python/mujoco/introspect/structs.py

@@ -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

@@ -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

@@ -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

@@ -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() {