Add support for multiple textures in one material (mjModel).

PiperOrigin-RevId: 648732764
Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b

doc/includes/references.h

@@ -1220,7 +1220,7 @@ struct mjModel_ {
   int*      tex_pathadr;          // address of texture asset path; -1: none  (ntex x 1)
 
   // materials
-  int*      mat_texid;            // texture id; -1: none                     (nmat x 1)
+  int*      mat_texid;            // indices of textures; -1: none            (nmat x mjNTEXMAT)
   mjtByte*  mat_texuniform;       // make texture cube uniform                (nmat x 1)
   float*    mat_texrepeat;        // texture repetition for 2d mapping        (nmat x 2)
   float*    mat_emission;         // emission (x rgb)                         (nmat x 1)
@@ -2792,7 +2792,7 @@ struct mjvFigure_ {               // abstract 2D figure passed to OpenGL rendere
 
   // line data
   int     linepnt[mjMAXLINE];     // number of points in line; (0) disable
-  float   linedata[mjMAXLINE][2*mjMAXLINEPNT]; // line data (x,y)
+  float   linedata[mjMAXLINE][2*mjMAXLINEPNT];  // line data (x,y)
 
   // output from renderer
   int     xaxispixel[2];          // range of x-axis in pixels