[Feature] Support Batch Textures

include/madrona/importer.hpp

@@ -47,8 +47,8 @@ struct SourceMaterial {
     // If this is -1, no texture will be applied. Otherwise,
     // the color gets multipled by color of the texture read in
     // at the UVs of the pixel.
-    int32_t textureIdx;
-
+    int32_t *textureIdx;
+    uint32_t numTextures;
     float roughness;
     float metalness;
 };
@@ -66,8 +66,7 @@ class ImageImporter {
     ImageImporter(ImageImporter &&);
     ~ImageImporter();
 
-    using ImportHandler =
-        Optional<SourceTexture> (*)(void *data, size_t num_bytes);
+    using ImportHandler = Optional<SourceTexture> (*)(void *data, size_t num_bytes);
 
     int32_t addHandler(const char *extension, ImportHandler fn);
 
@@ -106,9 +105,9 @@ struct ImportedAssets {
 
     DynArray<SourceObject> objects;
     DynArray<SourceMaterial> materials;
+    DynArray<int32_t> materialTextures;
     DynArray<SourceInstance> instances;
     DynArray<SourceTexture> textures;
-
 };
 
 class AssetImporter {

include/madrona/mesh_bvh.hpp

@@ -149,7 +149,8 @@ struct Material {
     // For now, just a color
     math::Vector4 color;
 
-    int32_t textureIdx;
+    int32_t textureOffset;
+    uint32_t numTextures;
 
     float roughness;
     float metalness;

include/madrona/render/cuda_batch_render_assets.hpp

@@ -22,10 +22,11 @@ struct MeshBVHData {
 struct MaterialData {
     // GPU buffer containing array of texture objects
     cudaTextureObject_t *textures;
-    uint32_t numTextureBuffers;
     cudaArray_t *textureBuffers;
-    uint32_t numMipmapTextureBuffers;
+    uint32_t numTextureBuffers;
     cudaMipmappedArray_t *mipmapTextureBuffers;
+    uint32_t numMipmapTextureBuffers;
+    int32_t *materialTextures;
     Material *materials;
 };
 

src/bridge/gs_madrona/renderer_gs.py

@@ -31,7 +31,6 @@ def __init__(
         geom_retriever: GeomRetriever,
         gpu_id: int,
         num_worlds: int,
-        num_cameras: int,
         num_lights: int,
         cam_fovs_tensor: torch.Tensor,
         cam_znears_tensor: torch.Tensor,
@@ -44,7 +43,7 @@ def __init__(
         assert geom_retriever is not None, "GeomRetriever is required for MadronaBatchRendererAdapter"
         assert gpu_id >= 0, "GPU ID must be greater than or equal to 0"
         assert num_worlds > 0, "Number of worlds must be greater than 0"
-        assert num_cameras > 0, "Must have at least one camera for Madrona to work!"
+        assert cam_fovs_tensor.shape[0] > 0, "Must have at least one camera for Madrona to work!"
         assert batch_render_view_width > 0, "Batch render view width must be greater than 0"
         assert batch_render_view_height > 0, "Batch render view height must be greater than 0"
 
@@ -72,7 +71,6 @@ def __init__(
             gpu_id=gpu_id,
             **geom_args_static,
             num_lights=num_lights,
-            num_cams=num_cameras,
             num_worlds=num_worlds,
             batch_render_view_width=batch_render_view_width,
             batch_render_view_height=batch_render_view_height,