Change tex_adr type to mjtSize.

Adds a test which verifies that we can index into the texture buffer at offsets larger than can be represented by a 32-bit signed int.

PiperOrigin-RevId: 868756646
Change-Id: Ibc1a2b269fce41aec370611b0aab77803837e7a8

doc/includes/references.h

@@ -1441,7 +1441,7 @@ struct mjModel_ {
   int*      tex_height;           // number of rows in texture image          (ntex x 1)
   int*      tex_width;            // number of columns in texture image       (ntex x 1)
   int*      tex_nchannel;         // number of channels in texture image      (ntex x 1)
-  int*      tex_adr;              // start address in tex_data                (ntex x 1)
+  mjtSize*  tex_adr;              // start address in tex_data                (ntex x 1)
   mjtByte*  tex_data;             // pixel values                             (ntexdata x 1)
   int*      tex_pathadr;          // address of texture asset path; -1: none  (ntex x 1)
 

include/mujoco/mjmodel.h

@@ -1099,7 +1099,7 @@ struct mjModel_ {
   int*      tex_height;           // number of rows in texture image          (ntex x 1)
   int*      tex_width;            // number of columns in texture image       (ntex x 1)
   int*      tex_nchannel;         // number of channels in texture image      (ntex x 1)
-  int*      tex_adr;              // start address in tex_data                (ntex x 1)
+  mjtSize*  tex_adr;              // start address in tex_data                (ntex x 1)
   mjtByte*  tex_data;             // pixel values                             (ntexdata x 1)
   int*      tex_pathadr;          // address of texture asset path; -1: none  (ntex x 1)
 

include/mujoco/mjxmacro.h

@@ -581,7 +581,7 @@
     X   ( int,     tex_height,            ntex,          1                    ) \
     X   ( int,     tex_width,             ntex,          1                    ) \
     X   ( int,     tex_nchannel,          ntex,          1                    ) \
-    X   ( int,     tex_adr,               ntex,          1                    ) \
+    X   ( mjtSize, tex_adr,               ntex,          1                    ) \
     XNV ( mjtByte, tex_data,              ntexdata,      1                    ) \
     X   ( int,     tex_pathadr,           ntex,          1                    )
 

python/mujoco/introspect/structs.py

@@ -3621,7 +3621,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='tex_adr',
                  type=PointerType(
-                     inner_type=ValueType(name='int'),
+                     inner_type=ValueType(name='mjtSize'),
                  ),
                  doc='start address in tex_data',
                  array_extent=('ntex',),

test/xml/xml_native_reader_test.cc

@@ -16,6 +16,7 @@
 
 #include <array>
 #include <cmath>
+#include <cstdint>
 #include <limits>
 #include <memory>
 #include <string>
@@ -910,6 +911,31 @@ TEST_F(XMLReaderTest, LargeTextureTest) {
   mj_deleteModel(model);
 }
 
+TEST_F(XMLReaderTest, LargeTextureAddressTest) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+  <asset>
+    <!--
+      Test that tex_adr can correctly index into a texture buffer larger than
+      what a 32-bit signed integer can represent.
+      The first texture has size 6*10923*10923*3 > 2^31-1 bytes.
+      tex_adr[1] should correctly point beyond this offset.
+    -->
+    <texture name="tex0" builtin="gradient" width="10923" height="2"/>
+    <texture name="tex1" builtin="flat" width="2" height="2"/>
+  </asset>
+  </mujoco>
+  )";
+
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+
+  ASSERT_THAT(model, NotNull()) << error.data();
+  EXPECT_EQ(model->ntex, 2);
+  EXPECT_GT(model->tex_adr[1], INT32_MAX);
+  mj_deleteModel(model);
+}
+
 TEST_F(XMLReaderTest, IncludeAssetsTest) {
   static constexpr char xml[] = R"(
   <mujoco>

unity/Runtime/Bindings/MjBindings.cs

@@ -5673,7 +5673,7 @@ public unsafe struct mjModel_ {
   public int* tex_height;
   public int* tex_width;
   public int* tex_nchannel;
-  public int* tex_adr;
+  public Int64* tex_adr;
   public byte* tex_data;
   public int* tex_pathadr;
   public int* mat_texid;

wasm/tests/bindings_test.ts

@@ -2163,9 +2163,10 @@ describe('MuJoCo WASM Bindings', () => {
       try {
         assertExists(model);
         const t1 = model.tex('t1');
+        const texAdr = Number(model.tex_adr[t1.id]);
         const expectedData = model.tex_data.slice(
-            model.tex_adr[t1.id],
+            texAdr,
-            model.tex_adr[t1.id] +
+            texAdr +
                 model.tex_height[t1.id] * model.tex_width[t1.id] *
                     model.tex_nchannel[t1.id]);