chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add orthographic cameras.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
unity/Runtime/Bindings/MjBindings.cs
+10 -4
View File
@@ -5013,6 +5013,7 @@ public unsafe struct mjOption_ {
[StructLayout(LayoutKind.Sequential)]
public unsafe struct global {
public int orthographic;
public float fovy;
public float ipd;
public float azimuth;
@@ -5321,11 +5322,12 @@ public unsafe struct mjModel_ {
public double* cam_poscom0;
public double* cam_pos0;
public double* cam_mat0;
public int* cam_resolution;
public int* cam_orthographic;
public double* cam_fovy;
public float* cam_intrinsic;
public float* cam_sensorsize;
public double* cam_ipd;
public int* cam_resolution;
public float* cam_sensorsize;
public float* cam_intrinsic;
public double* cam_user;
public int* light_mode;
public int* light_bodyid;
@@ -5858,6 +5860,7 @@ public unsafe struct mjvCamera_ {
public double distance;
public double azimuth;
public double elevation;
public int orthographic;
}
[StructLayout(LayoutKind.Sequential)]
@@ -5871,6 +5874,7 @@ public unsafe struct mjvGLCamera_ {
public float frustum_top;
public float frustum_near;
public float frustum_far;
public int orthographic;
}
[StructLayout(LayoutKind.Sequential)]
@@ -6184,10 +6188,12 @@ public unsafe struct model {
public int* site_group;
public double* site_size;
public float* site_rgba;
public int* cam_orthographic;
public double* cam_fovy;
public double* cam_ipd;
public float* cam_intrinsic;
public int* cam_resolution;
public float* cam_sensorsize;
public float* cam_intrinsic;
public byte* light_directional;
public byte* light_castshadow;
public float* light_bulbradius;