Rename "facetexcoord" to "elemtexcoord" in mjsFlex element for consistency.

PiperOrigin-RevId: 734153759
Change-Id: Ic17d7c8a6e53fba04da511d405c815a723c5e55b

doc/XMLreference.rst

@@ -3920,9 +3920,9 @@ cases, the user will specify a :el:`flexcomp` which will then automatically cons
    Texture coordinates. If omitted, texture mapping for this flex is disabled, even if a texture is specified in the
    material.
 
-.. _deformable-flex-facetexcoord:
+.. _deformable-flex-elemtexcoord:
 
-:at:`facetexcoord`: :at-val:`int((dim+1)*nelem), optional`
+:at:`elemtexcoord`: :at-val:`int((dim+1)*nelem), optional`
    Texture indices for each face. If omitted, texture are assumed to be vertex-based.
 
 .. _deformable-flex-element:

doc/XMLschema.rst

@@ -485,7 +485,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`material<deformable-flex-material>`                       | :ref:`rgba<deformable-flex-rgba>`                               | :ref:`flatskin<deformable-flex-flatskin>`                       | :ref:`body<deformable-flex-body>`                               | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`vertex<deformable-flex-vertex>`                           | :ref:`element<deformable-flex-element>`                         | :ref:`texcoord<deformable-flex-texcoord>`                       | :ref:`facetexcoord<deformable-flex-facetexcoord>`               | |
+|                                    |    |    | :ref:`vertex<deformable-flex-vertex>`                           | :ref:`element<deformable-flex-element>`                         | :ref:`texcoord<deformable-flex-texcoord>`                       | :ref:`elemtexcoord<deformable-flex-elemtexcoord>`               | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`node<deformable-flex-node>`                               |                                                                 |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |

doc/includes/references.h

@@ -2014,7 +2014,7 @@ typedef struct mjsFlex_ {          // flex specification
   mjDoubleVec* vert;               // vertex positions
   mjIntVec* elem;                  // element vertex ids
   mjFloatVec* texcoord;            // vertex texture coordinates
-  mjIntVec* facetexcoord;          // face texture coordinates
+  mjIntVec* elemtexcoord;          // element texture coordinates
 
   // other
   mjString* info;                  // message appended to compiler errors

include/mujoco/mjspec.h

@@ -446,7 +446,7 @@ typedef struct mjsFlex_ {          // flex specification
   mjDoubleVec* vert;               // vertex positions
   mjIntVec* elem;                  // element vertex ids
   mjFloatVec* texcoord;            // vertex texture coordinates
-  mjIntVec* facetexcoord;          // face texture coordinates
+  mjIntVec* elemtexcoord;          // element texture coordinates
 
   // other
   mjString* info;                  // message appended to compiler errors

python/mujoco/introspect/structs.py

@@ -10488,11 +10488,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='vertex texture coordinates',
              ),
              StructFieldDecl(
-                 name='facetexcoord',
+                 name='elemtexcoord',
                  type=PointerType(
                      inner_type=ValueType(name='mjIntVec'),
                  ),
-                 doc='face texture coordinates',
+                 doc='element texture coordinates',
              ),
              StructFieldDecl(
                  name='info',

src/user/user_flexcomp.cc

@@ -413,7 +413,7 @@ bool mjCFlexcomp::Make(mjsBody* body, char* error, int error_sz) {
   mjs_setString(pf->name, name.c_str());
   mjs_setInt(pf->elem, element.data(), element.size());
   mjs_setFloat(pf->texcoord, texcoord.data(), texcoord.size());
-  mjs_setInt(pf->facetexcoord, facetexcoord.data(), facetexcoord.size());
+  mjs_setInt(pf->elemtexcoord, elemtexcoord.data(), elemtexcoord.size());
   if (!centered) {
     mjs_setDouble(pf->vert, point.data(), point.size());
   }
@@ -1058,7 +1058,7 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
 
   if (mesh.HasTexcoord()) {
     texcoord = mesh.Texcoord();
-    facetexcoord = mesh.FaceTexcoord();
+    elemtexcoord = mesh.FaceTexcoord();
   }
 
   // copy faces or create 3D mesh

src/user/user_flexcomp.h

@@ -106,7 +106,7 @@ class mjCFlexcomp {
   std::vector<bool> used;         // is point used by any element (false: skip)
   std::vector<int> element;       // flex elements
   std::vector<float> texcoord;    // vertex texture coordinates
-  std::vector<int> facetexcoord;  // face texture coordinates (OBJ only)
+  std::vector<int> elemtexcoord;  // face texture coordinates (OBJ only)
 
   // plugin support
   std::string plugin_name;

src/user/user_mesh.cc

@@ -3184,7 +3184,7 @@ void mjCFlex::PointToLocal() {
   spec.vert = &spec_vert_;
   spec.node = &spec_node_;
   spec.texcoord = &spec_texcoord_;
-  spec.facetexcoord = &spec_facetexcoord_;
+  spec.elemtexcoord = &spec_elemtexcoord_;
   spec.elem = &spec_elem_;
   spec.info = &info;
   material = nullptr;
@@ -3193,7 +3193,7 @@ void mjCFlex::PointToLocal() {
   vert = nullptr;
   node = nullptr;
   texcoord = nullptr;
-  facetexcoord = nullptr;
+  elemtexcoord = nullptr;
   elem = nullptr;
 }
 
@@ -3219,7 +3219,7 @@ void mjCFlex::CopyFromSpec() {
   vert_ = spec_vert_;
   node_ = spec_node_;
   texcoord_ = spec_texcoord_;
-  facetexcoord_ = spec_facetexcoord_;
+  elemtexcoord_ = spec_elemtexcoord_;
   elem_ = spec_elem_;
 
   // clear precompiled asset. TODO: use asset cache
@@ -3323,14 +3323,14 @@ void mjCFlex::Compile(const mjVFS* vfs) {
   }
 
   // check texcoord
-  if (!texcoord_.empty() && texcoord_.size()!=2*nvert && facetexcoord_.empty()) {
+  if (!texcoord_.empty() && texcoord_.size()!=2*nvert && elemtexcoord_.empty()) {
     throw mjCError(this, "two texture coordinates per vertex expected");
   }
 
-  // no facetexcoord: copy from faces
+  // no elemtexcoord: copy from faces
-  if (facetexcoord_.empty() && !texcoord_.empty()) {
+  if (elemtexcoord_.empty() && !texcoord_.empty()) {
-    facetexcoord_.assign(3*nelem, 0);
+    elemtexcoord_.assign(3*nelem, 0);
-    memcpy(facetexcoord_.data(), elem_.data(), 3*nelem*sizeof(int));
+    memcpy(elemtexcoord_.data(), elem_.data(), 3*nelem*sizeof(int));
   }
 
   // resolve material name

src/user/user_model.cc

@@ -2916,8 +2916,8 @@ void mjCModel::CopyObjects(mjModel* m) {
       m->flex_texcoordadr[i] = texcoord_adr;
       memcpy(m->flex_texcoord + 2*texcoord_adr,
             pfl->texcoord_.data(), pfl->texcoord_.size()*sizeof(float));
-      memcpy(m->flex_elemtexcoord + elemdata_adr, pfl->facetexcoord_.data(),
+      memcpy(m->flex_elemtexcoord + elemdata_adr, pfl->elemtexcoord_.data(),
-             pfl->facetexcoord_.size()*sizeof(int));
+             pfl->elemtexcoord_.size()*sizeof(int));
     }
     m->flex_elemnum[i] = pfl->nelem;
     memcpy(m->flex_elem + elemdata_adr, pfl->elem_.data(), pfl->elem_.size()*sizeof(int));

src/user/user_objects.h

@@ -776,7 +776,7 @@ class mjCFlex_ : public mjCBase {
   std::vector<double> node_;              // node positions
   std::vector<int> elem_;                 // element vertex ids
   std::vector<float> texcoord_;           // vertex texture coordinates
-  std::vector<int> facetexcoord_;         // face texture coordinates (OBJ only)
+  std::vector<int> elemtexcoord_;         // face texture coordinates (OBJ only)
   std::string material_;                  // name of material used for rendering
 
   std::string spec_material_;
@@ -786,7 +786,7 @@ class mjCFlex_ : public mjCBase {
   std::vector<double> spec_node_;
   std::vector<int> spec_elem_;
   std::vector<float> spec_texcoord_;
-  std::vector<int> spec_facetexcoord_;
+  std::vector<int> spec_elemtexcoord_;
 };
 
 class mjCFlex: public mjCFlex_, private mjsFlex {
@@ -817,7 +817,7 @@ class mjCFlex: public mjCFlex_, private mjsFlex {
   const std::vector<double>& get_elemaabb() const { return elemaabb_; }
   const std::vector<int>& get_elem() const { return elem_; }
   const std::vector<float>& get_texcoord() const { return texcoord_; }
-  const std::vector<int>& get_facetexcoord() const { return facetexcoord_; }
+  const std::vector<int>& get_elemtexcoord() const { return elemtexcoord_; }
   const std::vector<std::string>& get_nodebody() const { return nodebody_; }
 
   bool HasTexcoord() const;               // texcoord not null

src/xml/xml_native_reader.cc

@@ -325,7 +325,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
     {"deformable", "*", "0"},
     {"<"},
         {"flex", "*", "13", "name", "group", "dim", "radius", "material",
-            "rgba", "flatskin", "body", "vertex", "element", "texcoord", "facetexcoord", "node"},
+            "rgba", "flatskin", "body", "vertex", "element", "texcoord", "elemtexcoord", "node"},
         {"<"},
             {"contact", "?", "13", "contype", "conaffinity", "condim", "priority",
                 "friction", "solmix", "solref", "solimp", "margin", "gap",
@@ -1354,9 +1354,9 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
   if (texcoord.has_value()) {
     mjs_setFloat(flex->texcoord, texcoord->data(), texcoord->size());
   }
-  auto facetexcoord = ReadAttrVec<int>(elem, "facetexcoord");
+  auto elemtexcoord = ReadAttrVec<int>(elem, "elemtexcoord");
-  if (facetexcoord.has_value()) {
+  if (elemtexcoord.has_value()) {
-    mjs_setInt(flex->facetexcoord, facetexcoord->data(), facetexcoord->size());
+    mjs_setInt(flex->elemtexcoord, elemtexcoord->data(), elemtexcoord->size());
   }
 
   // contact subelement

src/xml/xml_native_writer.cc

@@ -158,9 +158,9 @@ void mjXWriter::OneFlex(XMLElement* elem, const mjCFlex* flex) {
     text = VectorToString(flex->get_texcoord());
     WriteAttrTxt(elem, "texcoord", text);
   }
-  if (!flex->get_facetexcoord().empty()) {
+  if (!flex->get_elemtexcoord().empty()) {
-    text = VectorToString(flex->get_facetexcoord());
+    text = VectorToString(flex->get_elemtexcoord());
-    WriteAttrTxt(elem, "facetexcoord", text);
+    WriteAttrTxt(elem, "elemtexcoord", text);
   }
   if (!flex->get_nodebody().empty()) {
     text = VectorToString(flex->get_nodebody());