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

PiperOrigin-RevId: 949427127
Change-Id: I607af41aefdefd6d22602889e6982d64df8b380b

src/engine/engine_vis_visualize.c

@@ -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

@@ -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

@@ -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);