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

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PiperOrigin-RevId: 648732764
Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b
This commit is contained in:
Tom Erez
2024-07-02 08:49:24 -07:00
committed by Copybara-Service
parent 3b73dfe33b
commit df7ea3ed33
9 changed files with 20 additions and 11 deletions
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include/mujoco/mjmodel.h
+1 -1
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@@ -935,7 +935,7 @@ 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)
include/mujoco/mjvisualize.h
+1 -1
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@@ -394,7 +394,7 @@ 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
include/mujoco/mjxmacro.h
+1 -1
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@@ -413,7 +413,7 @@
X ( int, tex_adr, ntex, 1 ) \
X ( mjtByte, tex_rgb, ntexdata, 1 ) \
XMJV( int, tex_pathadr, ntex, 1 ) \
XMJV( int, mat_texid, nmat, 1 ) \
XMJV( int, mat_texid, nmat, mjNTEXMAT ) \
XMJV( mjtByte, mat_texuniform, nmat, 1 ) \
XMJV( float, mat_texrepeat, nmat, 2 ) \
XMJV( float, mat_emission, nmat, 1 ) \