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

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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
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src/render/classic/render_gl3.c
+18 -9
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@@ -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);