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Partial cube mapping implementation in USD

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This commit is contained in:
Abhishek Joshi
2024-07-21 17:00:16 -05:00
parent d1ff008a4f
commit d7447c4a84
3 changed files with 59 additions and 17 deletions
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python/mujoco/usd/objects.py
+12 -9
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@@ -363,19 +363,22 @@ class USDPrimitiveMesh(USDObject):
def _get_uv_geometry(self):
assert self.prim_mesh and self.prim_mesh.triangle_uvs is not None
s_scale, t_scale = self.model.mat_texrepeat[self.geom.matid]
mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
if self.model.mat_texuniform[self.geom.matid]:
if self.geom.size[0] > 0:
s_scale *= self.geom.size[0]
if self.geom.size[1] > 0:
t_scale *= self.geom.size[1]
geom_rgb_texture = self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB][1]
mesh_texcoord[:, 0] *= s_scale / (self.geom.size[0] * 2)
mesh_texcoord[:, 1] *= t_scale / (self.geom.size[1] * 2)
if geom_rgb_texture == mujoco.mjtTexture.mjTEXTURE_2D:
s_scale, t_scale = self.model.mat_texrepeat[self.geom.matid]
if self.model.mat_texuniform[self.geom.matid]:
if self.geom.size[0] > 0:
s_scale *= self.geom.size[0]
if self.geom.size[1] > 0:
t_scale *= self.geom.size[1]
mesh_texcoord[:, 0] *= s_scale / (self.geom.size[0] * 2)
mesh_texcoord[:, 1] *= t_scale / (self.geom.size[1] * 2)
return mesh_texcoord, mesh_facetexcoord.flatten()