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

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This commit is contained in:
Pedro Morais
2026-07-09 11:08:43 -04:00
parent bdeb7e7c4d
commit d43c3ed426
12 changed files with 54 additions and 95 deletions
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src/render/classic/render_context.c
-40
View File
@@ -14,7 +14,6 @@
#include "render/classic/render_context.h"
#include <inttypes.h> // IWYU pragma: keep
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
@@ -1299,44 +1298,6 @@ static void makeFont(mjrContext* con, int fontscale) {
}
}
// make materials, just for those that have textures
static void makeMaterial(const mjModel* m, mjrContext* con) {
memset(con->mat_texid, -1, sizeof(con->mat_texid));
memset(con->mat_texuniform, 0, sizeof(con->mat_texuniform));
memset(con->mat_texrepeat, 0, sizeof(con->mat_texrepeat));
// find skybox texture
for (int i=0; i < m->ntex; i++) {
if (m->tex_type[i] == mjTEXTURE_SKYBOX) {
if (m->nmat >= mjMAXMATERIAL-2) {
mju_error("With skybox, maximum number of materials is %d, got %" PRId64,
mjMAXMATERIAL-1, m->nmat);
}
for (int j=0; j < mjNTEXROLE; j++) {
con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + j] = -1;
}
con->mat_texid[mjNTEXROLE * (mjMAXMATERIAL-1) + mjTEXROLE_RGB] = i;
break;
}
}
if (m->nmat >= mjMAXMATERIAL-1) {
mju_error("Maximum number of materials is %d, got %" PRId64, mjMAXMATERIAL, m->nmat);
}
for (int i=0; i < m->nmat; i++) {
if (m->mat_texid[i*mjNTEXROLE + mjTEXROLE_RGB] >= 0) {
for (int j=0; j < mjNTEXROLE; j++) {
con->mat_texid[i*mjNTEXROLE + j] = m->mat_texid[i*mjNTEXROLE + j];
}
con->mat_texuniform[i] = m->mat_texuniform[i];
con->mat_texrepeat[2*i] = m->mat_texrepeat[2*i];
con->mat_texrepeat[2*i+1] = m->mat_texrepeat[2*i+1];
}
}
}
// make textures
static void makeTexture(const mjModel* m, mjrContext* con) {
// checks size
@@ -1639,7 +1600,6 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
// make everything
makeOff(con);
makeShadow(m, con);
makeMaterial(m, con);
makeTexture(m, con);
makePlane(m, con);
makeMesh(m, con);
src/render/classic/render_gl3.c
+8 -8
View File
@@ -64,7 +64,7 @@ static void settexture(int type, int state, const mjrContext* con, const mjvGeom
int texid = -1;
if (geom) {
if (geom->matid >= 0) {
texid = con->mat_texid[mjNTEXROLE * geom->matid + mjTEXROLE_RGB];
texid = geom->texid;
}
}
@@ -119,8 +119,8 @@ 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] = geom->texrepeat[0];
scl[1] = geom->texrepeat[1];
if (geom->dataid >= 0) {
if (geom->size[0] > 0) {
scl[0] = scl[0] / mju_max(mjMINVAL, geom->size[0]);
@@ -132,7 +132,7 @@ 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 (geom->texuniform) {
if (geom->size[0] > 0) {
scl[0] = scl[0] * geom->size[0];
}
@@ -171,11 +171,11 @@ 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, geom->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, geom->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, geom->texuniform ? geom->size[2] : 1, 0);
glTexGenfv(GL_R, GL_OBJECT_PLANE, plane);
}
@@ -1317,7 +1317,7 @@ 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);