Add orthographic cameras.
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
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Yuval Tassa
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Copybara-Service
Copybara-Service
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171b0d6e06
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07fc95ca9a
+14
-12
@@ -277,15 +277,15 @@
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| :ref:`camera | \* | :class: mjcf-attributes |
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| <body-camera>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<body-camera-name>` | :ref:`class<body-camera-class>` | :ref:`fovy<body-camera-fovy>` | :ref:`ipd<body-camera-ipd>` | |
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| | | | :ref:`name<body-camera-name>` | :ref:`class<body-camera-class>` | :ref:`orthographic<body-camera-orthographic>` | :ref:`fovy<body-camera-fovy>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`resolution<body-camera-resolution>` | :ref:`pos<body-camera-pos>` | :ref:`quat<body-camera-quat>` | :ref:`axisangle<body-camera-axisangle>` | |
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| | | | :ref:`ipd<body-camera-ipd>` | :ref:`resolution<body-camera-resolution>` | :ref:`pos<body-camera-pos>` | :ref:`quat<body-camera-quat>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`xyaxes<body-camera-xyaxes>` | :ref:`zaxis<body-camera-zaxis>` | :ref:`euler<body-camera-euler>` | :ref:`mode<body-camera-mode>` | |
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| | | | :ref:`axisangle<body-camera-axisangle>` | :ref:`xyaxes<body-camera-xyaxes>` | :ref:`zaxis<body-camera-zaxis>` | :ref:`euler<body-camera-euler>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`target<body-camera-target>` | :ref:`focal<body-camera-focal>` | :ref:`focalpixel<body-camera-focalpixel>` | :ref:`principal<body-camera-principal>` | |
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| | | | :ref:`mode<body-camera-mode>` | :ref:`target<body-camera-target>` | :ref:`focal<body-camera-focal>` | :ref:`focalpixel<body-camera-focalpixel>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`principalpixel<body-camera-principalpixel>` | :ref:`sensorsize<body-camera-sensorsize>` | :ref:`user<body-camera-user>` | | |
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| | | | :ref:`principal<body-camera-principal>` | :ref:`principalpixel<body-camera-principalpixel>` | :ref:`sensorsize<body-camera-sensorsize>` | :ref:`user<body-camera-user>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| body |br| |_| |L| | | .. table:: |
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@@ -1246,11 +1246,11 @@
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| :ref:`global | ? | :class: mjcf-attributes |
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| <visual-global>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | :ref:`elevation<visual-global-elevation>` | |
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| | | | :ref:`orthographic<visual-global-orthographic>` | :ref:`fovy<visual-global-fovy>` | :ref:`ipd<visual-global-ipd>` | :ref:`azimuth<visual-global-azimuth>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
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| | | | :ref:`elevation<visual-global-elevation>` | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
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| | | | :ref:`offheight<visual-global-offheight>` | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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@@ -1396,13 +1396,15 @@
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| :ref:`camera | ? | :class: mjcf-attributes |
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| <default-camera>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`resolution<default-camera-resolution>` | :ref:`pos<default-camera-pos>` | |
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| | | | :ref:`orthographic<default-camera-orthographic>` | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`resolution<default-camera-resolution>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`quat<default-camera-quat>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | :ref:`zaxis<default-camera-zaxis>` | |
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| | | | :ref:`pos<default-camera-pos>` | :ref:`quat<default-camera-quat>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`euler<default-camera-euler>` | :ref:`mode<default-camera-mode>` | :ref:`focal<default-camera-focal>` | :ref:`focalpixel<default-camera-focalpixel>` | |
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| | | | :ref:`zaxis<default-camera-zaxis>` | :ref:`euler<default-camera-euler>` | :ref:`mode<default-camera-mode>` | :ref:`focal<default-camera-focal>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`principal<default-camera-principal>` | :ref:`principalpixel<default-camera-principalpixel>` | :ref:`sensorsize<default-camera-sensorsize>` | :ref:`user<default-camera-user>` | |
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| | | | :ref:`focalpixel<default-camera-focalpixel>` | :ref:`principal<default-camera-principal>` | :ref:`principalpixel<default-camera-principalpixel>` | :ref:`sensorsize<default-camera-sensorsize>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`user<default-camera-user>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| default |br| |_| |L| | | .. table:: |
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