Add flex_texcoordadr to mjvSceneState. Fixes #1193.

PiperOrigin-RevId: 582630943 Change-Id: I113b135752268773e0afafe004b8f27c1e96ffc7
google-deepmind · Nov 15, 2023 · e3b3f96 · e3b3f96
1 parent 7051ab9
commit e3b3f96
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Showing 5 changed files with 20 additions and 2 deletions.
diff --git a/doc/includes/references.h b/doc/includes/references.h
@@ -2141,6 +2141,7 @@ struct mjvSceneState_ {
     int nskin;
     int nflex;
     int nflexvert;
+    int nflextexcoord;
     int nskinvert;
     int nskinface;
     int nskinbone;
@@ -2231,6 +2232,7 @@ struct mjvSceneState_ {
     int* flex_shell;
     int* flex_shellnum;
     int* flex_shelldataadr;
+    int* flex_texcoordadr;
     int* flex_bvhadr;
     int* flex_bvhnum;
     mjtNum* flex_radius;

diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
@@ -422,6 +422,7 @@ struct mjvSceneState_ {
     int nskin;
     int nflex;
     int nflexvert;
+    int nflextexcoord;
     int nskinvert;
     int nskinface;
     int nskinbone;
@@ -512,6 +513,7 @@ struct mjvSceneState_ {
     int* flex_shell;
     int* flex_shellnum;
     int* flex_shelldataadr;
+    int* flex_texcoordadr;
     int* flex_bvhadr;
     int* flex_bvhnum;
     mjtNum* flex_radius;

diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
@@ -87,7 +87,7 @@
     X   ( nflexelemdata )      \
     X   ( nflexshelldata )     \
     X   ( nflexevpair )        \
-    X   ( nflextexcoord )      \
+    XMJV( nflextexcoord )      \
     XMJV( nmesh )              \
     X   ( nmeshvert )          \
     X   ( nmeshnormal )        \
@@ -330,7 +330,7 @@
     XMJV( int,     flex_shelldataadr,     nflex,         1                    ) \
     X   ( int,     flex_evpairadr,        nflex,         1                    ) \
     X   ( int,     flex_evpairnum,        nflex,         1                    ) \
-    X   ( int,     flex_texcoordadr,      nflex,         1                    ) \
+    XMJV( int,     flex_texcoordadr,      nflex,         1                    ) \
     X   ( int,     flex_vertbodyid,       nflexvert,     1                    ) \
     X   ( int,     flex_edge,             nflexedge,     2                    ) \
     XMJV( int,     flex_elem,             nflexelemdata, 1                    ) \

diff --git a/introspect/structs.py b/introspect/structs.py
@@ -6243,6 +6243,11 @@
                              type=ValueType(name='int'),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='nflextexcoord',
+                             type=ValueType(name='int'),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='nskinvert',
                              type=ValueType(name='int'),
@@ -6778,6 +6783,13 @@
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='flex_texcoordadr',
+                             type=PointerType(
+                                 inner_type=ValueType(name='int'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='flex_bvhadr',
                              type=PointerType(

diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
@@ -6076,6 +6076,7 @@ public unsafe struct model {
   public int nskin;
   public int nflex;
   public int nflexvert;
+  public int nflextexcoord;
   public int nskinvert;
   public int nskinface;
   public int nskinbone;
@@ -6157,6 +6158,7 @@ public unsafe struct model {
   public int* flex_shell;
   public int* flex_shellnum;
   public int* flex_shelldataadr;
+  public int* flex_texcoordadr;
   public int* flex_bvhadr;
   public int* flex_bvhnum;
   public double* flex_radius;