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Allow material default classes to define texture layers.

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PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
This commit is contained in:
Haroon Qureshi
2025-12-04 08:22:05 -08:00
committed by Copybara-Service
parent 5ee8b646f7
commit da36e822a8
3 changed files with 11 additions and 1 deletions
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doc/XMLschema.rst
+7
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@@ -1428,6 +1428,13 @@
| | | | :ref:`texrepeat<default-material-texrepeat>` | :ref:`texuniform<default-material-texuniform>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`layer | \* | :class: mjcf-attributes |
| <material-layer>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-layer-texture>` | :ref:`role<material-layer-role>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
| :ref:`joint | ? | :class: mjcf-attributes |
| <default-joint>` | | |
src/xml/xml_native_reader.cc
+3
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@@ -156,6 +156,9 @@ std::vector<const char*> MJCF[nMJCF] = {
{"mesh", "?", "scale", "maxhullvert", "inertia"},
{"material", "?", "texture", "emission", "specular", "shininess",
"reflectance", "metallic", "roughness", "rgba", "texrepeat", "texuniform"},
{"<"},
{"layer", "*", "texture", "role"},
{">"},
{"joint", "?", "type", "group", "pos", "axis", "springdamper",
"limited", "actuatorfrclimited", "solreflimit", "solimplimit",
"solreffriction", "solimpfriction", "stiffness", "range", "actuatorfrcrange",
src/xml/xml_native_reader.h
+1 -1
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@@ -102,7 +102,7 @@ class mjXReader : public mjXBase {
};
// MJCF schema
#define nMJCF 241
#define nMJCF 244
extern std::vector<const char*> MJCF[nMJCF];
#endif // MUJOCO_SRC_XML_XML_NATIVE_READER_H_