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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/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;