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Add mjmodel support for textures with different number of channels.

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PiperOrigin-RevId: 653974959
Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
This commit is contained in:
Tom Erez
2024-07-19 05:21:16 -07:00
committed by Copybara-Service
parent 70ac76bb4b
commit e92af73cbf
11 changed files with 43 additions and 24 deletions
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src/render/render_context.c
+3 -3
View File
@@ -1382,7 +1382,7 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
// assign data
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m->tex_width[texid], m->tex_height[texid], 0,
GL_RGB, GL_UNSIGNED_BYTE, m->tex_rgb + m->tex_adr[texid]);
GL_RGB, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid]);
// generate mipmaps
glGenerateMipmap(GL_TEXTURE_2D);
@@ -1416,7 +1416,7 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
if (m->tex_width[texid] == m->tex_height[texid]) {
for (int i=0; i < 6; i++) {
glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X+i, 0, GL_RGB, w, w, 0,
GL_RGB, GL_UNSIGNED_BYTE, m->tex_rgb + m->tex_adr[texid]);
GL_RGB, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid]);
}
}
@@ -1424,7 +1424,7 @@ void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
else {
for (int i=0; i < 6; i++) {
glTexImage2D(GL_TEXTURE_CUBE_MAP_POSITIVE_X+i, 0, GL_RGB, w, w, 0,
GL_RGB, GL_UNSIGNED_BYTE, m->tex_rgb + m->tex_adr[texid] + i*3*w*w);
GL_RGB, GL_UNSIGNED_BYTE, m->tex_data + m->tex_adr[texid] + i*3*w*w);
}
}
src/user/user_model.cc
+2 -1
View File
@@ -2505,9 +2505,10 @@ void mjCModel::CopyObjects(mjModel* m) {
m->tex_height[i] = ptex->height;
m->tex_width[i] = ptex->width;
m->tex_adr[i] = data_adr;
m->tex_nchannel[i] = 3;
// copy rgb data
memcpy(m->tex_rgb + data_adr, ptex->rgb.data(), 3*ptex->width*ptex->height);
memcpy(m->tex_data + data_adr, ptex->rgb.data(), 3*ptex->width*ptex->height);
// advance counter
data_adr += 3*ptex->width*ptex->height;