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Add orthographic cameras.

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Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.

Other related changes:

* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.

https://youtu.be/ZXBTEIDWHhs

PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
This commit is contained in:
Yuval Tassa
2024-06-11 09:21:39 -07:00
committed by Copybara-Service
parent 171b0d6e06
commit 07fc95ca9a
23 changed files with 490 additions and 235 deletions
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doc/XMLreference.rst
+24 -6
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@@ -2615,11 +2615,20 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
When the camera mode is "targetbody" or "targetbodycom", this attribute becomes required. It specifies which body
should be targeted by the camera. In all other modes this attribute is ignored.
.. _body-camera-orthographic:
:at:`orthographic`: :at-val:`[false, true], "false"`
Whether the camera uses a perspective projection (the default) or an orthographic projection. Setting this attribute
changes the semantic of the :ref:`fovy<body-camera-fovy>` attribute, see below.
.. _body-camera-fovy:
:at:`fovy`: :at-val:`real, "45"`
Vertical field of view of the camera, expressed in degrees regardless of the global angle setting. The horizontal
field of view is computed automatically given the window size and the vertical field of view.
Vertical field-of-view of the camera. If the camera uses a perspective projection, the field-of-view is expressed in
degrees, regardless of the global :ref:`compiler/angle <compiler-angle>` setting. If the camera uses an orthographic
projection, the field-of-view is expressed in units of length; note that in this case the default of 45 is too large
for most scenes and should likely be reduced. In either case, the horizontal field of view is computed automatically
given the window size and the vertical field of view.
.. _body-camera-resolution:
@@ -7157,14 +7166,22 @@ coordinated visual settings corresponding to a "theme", and then include this fi
While all settings in mjVisual are global, the settings here could not be fit into any of the other subsections. So this
is effectively a miscellaneous subsection.
.. _visual-global-orthographic:
:at:`orthographic`: :at-val:`[false, true], "false"`
Whether the free camera uses a perspective projection (the default) or an orthographic projection. Setting this
attribute changes the semantic of the :ref:`global/fovy<visual-global-fovy>` attribute, see below.
.. _visual-global-fovy:
:at:`fovy`: :at-val:`real, "45"`
This attribute specifies the vertical field of view of the free camera, i.e., the camera that is always available in
the visualizer even if no cameras are explicitly defined in the model. It is always expressed in degrees, regardless
of the setting of the angle attribute of :ref:`compiler <compiler>`, and is also represented in the low level model
in degrees. This is because we pass it to OpenGL which uses degrees. The same convention applies to the fovy
attribute of the :ref:`camera <body-camera>` element below.
the visualizer even if no cameras are explicitly defined in the model. If the camera uses a perspective projection,
the field-of-view is expressed in degrees, regardless of the global :ref:`compiler/angle <compiler-angle>` setting.
If the camera uses an orthographic projection, the field-of-view is expressed in units of length; note that in this
case the default of 45 is too large for most scenes and should likely be reduced. In either case, the horizontal
field of view is computed automatically given the window size and the vertical field of view. The same convention
applies to the :ref:`camera/fovy <body-camera-fovy>` attribute.
.. _visual-global-ipd:
@@ -7869,6 +7886,7 @@ if omitted.
| This element sets the attributes of the dummy :ref:`site <body-site>` element of the defaults class.
| All site attributes are available here except: name, class.
.. _default-camera-orthographic:
.. _default-camera-fovy:
doc/XMLschema.rst
+14 -12
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@@ -277,15 +277,15 @@
| :ref:`camera | \* | :class: mjcf-attributes |
| <body-camera>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<body-camera-name>` | :ref:`class<body-camera-class>` | :ref:`fovy<body-camera-fovy>` | :ref:`ipd<body-camera-ipd>` | |
| | | | :ref:`name<body-camera-name>` | :ref:`class<body-camera-class>` | :ref:`orthographic<body-camera-orthographic>` | :ref:`fovy<body-camera-fovy>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`resolution<body-camera-resolution>` | :ref:`pos<body-camera-pos>` | :ref:`quat<body-camera-quat>` | :ref:`axisangle<body-camera-axisangle>` | |
| | | | :ref:`ipd<body-camera-ipd>` | :ref:`resolution<body-camera-resolution>` | :ref:`pos<body-camera-pos>` | :ref:`quat<body-camera-quat>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`xyaxes<body-camera-xyaxes>` | :ref:`zaxis<body-camera-zaxis>` | :ref:`euler<body-camera-euler>` | :ref:`mode<body-camera-mode>` | |
| | | | :ref:`axisangle<body-camera-axisangle>` | :ref:`xyaxes<body-camera-xyaxes>` | :ref:`zaxis<body-camera-zaxis>` | :ref:`euler<body-camera-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`target<body-camera-target>` | :ref:`focal<body-camera-focal>` | :ref:`focalpixel<body-camera-focalpixel>` | :ref:`principal<body-camera-principal>` | |
| | | | :ref:`mode<body-camera-mode>` | :ref:`target<body-camera-target>` | :ref:`focal<body-camera-focal>` | :ref:`focalpixel<body-camera-focalpixel>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`principalpixel<body-camera-principalpixel>` | :ref:`sensorsize<body-camera-sensorsize>` | :ref:`user<body-camera-user>` | | |
| | | | :ref:`principal<body-camera-principal>` | :ref:`principalpixel<body-camera-principalpixel>` | :ref:`sensorsize<body-camera-sensorsize>` | :ref:`user<body-camera-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
@@ -1246,11 +1246,11 @@
| :ref:`global | ? | :class: mjcf-attributes |
| <visual-global>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | :ref:`elevation<visual-global-elevation>` | |
| | | | :ref:`orthographic<visual-global-orthographic>` | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
| | | | :ref:`elevation<visual-global-elevation>` | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
| | | | :ref:`offheight<visual-global-offheight>` | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
@@ -1396,13 +1396,15 @@
| :ref:`camera | ? | :class: mjcf-attributes |
| <default-camera>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`resolution<default-camera-resolution>` | :ref:`pos<default-camera-pos>` | |
| | | | :ref:`orthographic<default-camera-orthographic>` | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`resolution<default-camera-resolution>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`quat<default-camera-quat>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | :ref:`zaxis<default-camera-zaxis>` | |
| | | | :ref:`pos<default-camera-pos>` | :ref:`quat<default-camera-quat>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`euler<default-camera-euler>` | :ref:`mode<default-camera-mode>` | :ref:`focal<default-camera-focal>` | :ref:`focalpixel<default-camera-focalpixel>` | |
| | | | :ref:`zaxis<default-camera-zaxis>` | :ref:`euler<default-camera-euler>` | :ref:`mode<default-camera-mode>` | :ref:`focal<default-camera-focal>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`principal<default-camera-principal>` | :ref:`principalpixel<default-camera-principalpixel>` | :ref:`sensorsize<default-camera-sensorsize>` | :ref:`user<default-camera-user>` | |
| | | | :ref:`focalpixel<default-camera-focalpixel>` | :ref:`principal<default-camera-principal>` | :ref:`principalpixel<default-camera-principalpixel>` | :ref:`sensorsize<default-camera-sensorsize>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`user<default-camera-user>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
doc/changelog.rst
+11 -5
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@@ -13,15 +13,21 @@ General
- Detailed documentation.
- Python bindings.
2. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
.. youtube:: ZXBTEIDWHhs
:align: right
:width: 240px
2. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
attributes, respectively.
3. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
MJX
~~~
3. Added support for :ref:`elliptic friction cones<option-cone>`.
4. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
5. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
4. Added support for :ref:`elliptic friction cones<option-cone>`.
5. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
6. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
Version 3.1.6 (Jun 3, 2024)
---------------------------
doc/includes/references.h
+17 -6
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@@ -751,7 +751,8 @@ struct mjOption_ { // physics options
typedef struct mjOption_ mjOption;
struct mjVisual_ { // visualization options
struct { // global parameters
float fovy; // y-field of view for free camera (degrees)
int orthographic; // is the free camera orthographic (0: no, 1: yes)
float fovy; // y field-of-view of free camera (orthographic ? length : degree)
float ipd; // inter-pupilary distance for free camera
float azimuth; // initial azimuth of free camera (degrees)
float elevation; // initial elevation of free camera (degrees)
@@ -1072,11 +1073,12 @@ struct mjModel_ {
mjtNum* cam_poscom0; // global position rel. to sub-com in qpos0 (ncam x 3)
mjtNum* cam_pos0; // global position rel. to body in qpos0 (ncam x 3)
mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
int* cam_resolution; // [width, height] in pixels (ncam x 2)
mjtNum* cam_fovy; // y-field of view (deg) (ncam x 1)
float* cam_intrinsic; // [focal length; principal point] (ncam x 4)
float* cam_sensorsize; // sensor size (ncam x 2)
int* cam_orthographic; // orthographic camera; 0: no, 1: yes (ncam x 1)
mjtNum* cam_fovy; // y field-of-view (ortho ? len : deg) (ncam x 1)
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
int* cam_resolution; // resolution: pixels [width, height] (ncam x 2)
float* cam_sensorsize; // sensor size: length [width, height] (ncam x 2)
float* cam_intrinsic; // [focal length; principal point] (ncam x 4)
mjtNum* cam_user; // user data (ncam x nuser_cam)
// lights
@@ -1858,6 +1860,7 @@ typedef struct mjsCamera_ { // camera specification
mjString* targetbody; // target body for tracking/targeting
// intrinsics
int orthographic; // is camera orthographic
double fovy; // y-field of view
double ipd; // inter-pupilary distance
float intrinsic[4]; // camera intrinsics (length)
@@ -2602,6 +2605,9 @@ struct mjvCamera_ { // abstract camera
mjtNum distance; // distance to lookat point or tracked body
mjtNum azimuth; // camera azimuth (deg)
mjtNum elevation; // camera elevation (deg)
// orthographic / perspective
int orthographic; // 0: perspective; 1: orthographic
};
typedef struct mjvCamera_ mjvCamera;
struct mjvGLCamera_ { // OpenGL camera
@@ -2617,6 +2623,9 @@ struct mjvGLCamera_ { // OpenGL camera
float frustum_top; // top
float frustum_near; // near
float frustum_far; // far
// orthographic / perspective
int orthographic; // 0: perspective; 1: orthographic
};
typedef struct mjvGLCamera_ mjvGLCamera;
struct mjvGeom_ { // abstract geom
@@ -2869,10 +2878,12 @@ struct mjvSceneState_ {
mjtNum* site_size;
float* site_rgba;
int* cam_orthographic;
mjtNum* cam_fovy;
mjtNum* cam_ipd;
float* cam_intrinsic;
int* cam_resolution;
float* cam_sensorsize;
float* cam_intrinsic;
mjtByte* light_directional;
mjtByte* light_castshadow;