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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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include/mujoco/mjxmacro.h
+4 -3
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@@ -277,16 +277,17 @@
X ( int, cam_mode, ncam, 1 ) \
X ( int, cam_bodyid, ncam, 1 ) \
X ( int, cam_targetbodyid, ncam, 1 ) \
X ( int, cam_resolution, ncam, 2 ) \
XMJV( float, cam_sensorsize, ncam, 2 ) \
XMJV( float, cam_intrinsic, ncam, 4 ) \
X ( mjtNum, cam_pos, ncam, 3 ) \
X ( mjtNum, cam_quat, ncam, 4 ) \
X ( mjtNum, cam_poscom0, ncam, 3 ) \
X ( mjtNum, cam_pos0, ncam, 3 ) \
X ( mjtNum, cam_mat0, ncam, 9 ) \
XMJV( int, cam_orthographic, ncam, 1 ) \
XMJV( mjtNum, cam_fovy, ncam, 1 ) \
XMJV( mjtNum, cam_ipd, ncam, 1 ) \
XMJV( int, cam_resolution, ncam, 2 ) \
XMJV( float, cam_sensorsize, ncam, 2 ) \
XMJV( float, cam_intrinsic, ncam, 4 ) \
X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) ) \
X ( int, light_mode, nlight, 1 ) \
X ( int, light_bodyid, nlight, 1 ) \