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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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test/engine/testdata/vis_visualize/orthographic.xml
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<!-- Test model for visual debugging of orthographic cameras. -->
<mujoco>
<visual>
<!-- free camera is orthorgaphic with a 5m vertical field-of-view -->
<global orthographic="true" fovy="5"/>
<scale camera="1"/>
</visual>
<asset>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="10 10" texuniform="false" reflectance=".2"/>
</asset>
<default>
<camera orthographic="true"/>
</default>
<worldbody>
<light pos="0 0 3"/>
<geom type="plane" size="10 10 .01" material="grid"/>
<body pos=".5 .5 .5">
<freejoint/>
<geom type="box" size=".5 .5 .5" pos="0 0 .5"/>
</body>
<!-- box should pefectly fit within field-of-view -->
<camera name="fovy = 1" pos=".5 .5 2" orthographic="true" fovy="1"/>
<!-- 2 floor squares should pefectly fit within field-of-view -->
<camera name="fovy = 2" pos="0 0 2" fovy="2"/> <!-- inherits orthographic="true" from defaults -->
</worldbody>
</mujoco>