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

PiperOrigin-RevId: 949427127
Change-Id: I607af41aefdefd6d22602889e6982d64df8b380b

doc/changelog.rst

@@ -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

@@ -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

@@ -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

@@ -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() {

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[0] = texrepeat[0];
-      scl[1] = con->mat_texrepeat[geom->matid*2+1];
+      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

@@ -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

@@ -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

@@ -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));
   }