Move texture block copy out of render context so it can be modified online via mjmodel

include/mujoco/mjrender.h

@@ -24,7 +24,6 @@ extern "C" {
 
 #define mjNAUX          10        // number of auxiliary buffers
 #define mjMAXTEXTURE    1000      // maximum number of textures
-#define mjMAXMATERIAL   1000      // maximum number of materials with textures
 
 //---------------------------------- primitive types (mjt) -----------------------------------------
 
@@ -170,11 +169,6 @@ typedef struct mjrContext_ {        // custom OpenGL context
   unsigned int auxColor[mjNAUX];    // auxiliary color buffer
   unsigned int auxColor_r[mjNAUX];  // auxiliary color buffer for resolving
 
-  // materials with textures
-  int mat_texid[mjMAXMATERIAL*mjNTEXROLE]; // material texture ids (-1: no texture)
-  int mat_texuniform[mjMAXMATERIAL];       // uniform cube mapping
-  float mat_texrepeat[mjMAXMATERIAL*2];    // texture repetition for 2d mapping
-
   // texture objects and info
   int ntexture;                            // number of allocated textures
   int textureType[mjMAXTEXTURE];           // type of texture (mjtTexture) (ntexture)

include/mujoco/mjvisualize.h

@@ -229,6 +229,8 @@ 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
 
@@ -243,6 +245,7 @@ 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