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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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test/user/user_api_test.cc
+3 -3
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@@ -288,15 +288,15 @@ TEST_F(PluginTest, RecompileComparePngCache) {
// load model once
mjModel* m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->ntexdata, 18); // w x h x rgb = 3 x 2 x 3
mjtByte byte = m->tex_rgb[0];
mjtByte byte = m->tex_data[0];
mj_deleteModel(m);
// update tex.png, load again
mj_deleteFileVFS(vfs.get(), "tex.png");
mj_addBufferVFS(vfs.get(), "tex.png", tex2, sizeof(tex2));
m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_NE(m->tex_rgb[0], byte);
EXPECT_EQ(m->tex_rgb[15], byte); // first pixel is now last pixel
EXPECT_NE(m->tex_data[0], byte);
EXPECT_EQ(m->tex_data[15], byte); // first pixel is now last pixel
mj_deleteModel(m);
mj_deleteVFS(vfs.get());