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Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114.

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Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
This commit is contained in:
Alessio Quaglino
2023-10-25 09:07:22 -07:00
committed by Copybara-Service
parent 5231a335bf
commit 1a47a97040
14 changed files with 61 additions and 15 deletions
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doc/XMLreference.rst
+10
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@@ -920,6 +920,11 @@ documented below.
The radius of the capsules used to render slider-crank mechanisms. The second part of the mechanism is automatically
scaled relative to this setting.
.. _visual-scale-frustum:
:at:`frustum`: :at-val:`real, "10"`
The distance of the zfar plane from the camera pinhole for rendering the frustum.
.. _visual-rgba:
@@ -1046,6 +1051,11 @@ disables the rendering of the corresponding object.
Color used to render the crank of slide-crank mechanisms, in model configurations where the specified rod length
cannot be maintained, i.e., it is "broken".
.. _visual-rgba-frustum:
:at:`frustum`: :at-val:`real(4), "1 1 0 0.2"`
Color used to render the camera frustum.
.. _asset:
doc/XMLschema.rst
+3 -1
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@@ -109,6 +109,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`framelength<visual-scale-framelength>` | :ref:`framewidth<visual-scale-framewidth>` | :ref:`constraint<visual-scale-constraint>` | :ref:`slidercrank<visual-scale-slidercrank>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`frustum<visual-scale-frustum>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
| :ref:`rgba | ? | :class: mjcf-attributes |
@@ -124,7 +126,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contacttorque<visual-rgba-contacttorque>` | :ref:`contactgap<visual-rgba-contactgap>` | :ref:`rangefinder<visual-rgba-rangefinder>` | :ref:`constraint<visual-rgba-constraint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | | | |
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
doc/includes/references.h
+2
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@@ -800,6 +800,7 @@ struct mjVisual_ { // visualization options
float framewidth; // bodyframe axis width
float constraint; // constraint width
float slidercrank; // slidercrank width
float frustum; // frustum zfar plane
} scale;
struct { // color of decor elements
@@ -825,6 +826,7 @@ struct mjVisual_ { // visualization options
float constraint[4]; // constraint
float slidercrank[4]; // slidercrank
float crankbroken[4]; // used when crank must be stretched/broken
float frustum[4]; // camera frustum
} rgba;
};
typedef struct mjVisual_ mjVisual;
include/mujoco/mjmodel.h
+2
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@@ -505,6 +505,7 @@ struct mjVisual_ { // visualization options
float framewidth; // bodyframe axis width
float constraint; // constraint width
float slidercrank; // slidercrank width
float frustum; // frustum zfar plane
} scale;
struct { // color of decor elements
@@ -530,6 +531,7 @@ struct mjVisual_ { // visualization options
float constraint[4]; // constraint
float slidercrank[4]; // slidercrank
float crankbroken[4]; // used when crank must be stretched/broken
float frustum[4]; // camera frustum
} rgba;
};
typedef struct mjVisual_ mjVisual;
introspect/structs.py
+13
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@@ -578,6 +578,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='float'),
doc='slidercrank width',
),
StructFieldDecl(
name='frustum',
type=ValueType(name='float'),
doc='frustum zfar plane',
),
),
),
doc='',
@@ -762,6 +767,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='used when crank must be stretched/broken',
),
StructFieldDecl(
name='frustum',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='camera frustum',
),
),
),
doc='',
python/mujoco/structs.cc
+6 -2
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@@ -147,7 +147,8 @@ MjVisualRgbaWrapper::MjWrapper()
X(rangefinder),
X(constraint),
X(slidercrank),
X(crankbroken) {}
X(crankbroken),
X(frustum) {}
MjVisualRgbaWrapper::MjWrapper(raw::MjVisualRgba* ptr, py::handle owner)
: WrapperBase(ptr, owner),
@@ -172,7 +173,8 @@ MjVisualRgbaWrapper::MjWrapper(raw::MjVisualRgba* ptr, py::handle owner)
X(rangefinder),
X(constraint),
X(slidercrank),
X(crankbroken) {}
X(crankbroken),
X(frustum) {}
#undef X
MjVisualRgbaWrapper::MjWrapper(const MjVisualRgbaWrapper& other)
@@ -1488,6 +1490,7 @@ PYBIND11_MODULE(_structs, m) {
X(framewidth);
X(constraint);
X(slidercrank);
X(frustum);
#undef X
py::class_<MjVisualRgbaWrapper> mjVisualRgba(mjVisual, "Rgba");
@@ -1522,6 +1525,7 @@ PYBIND11_MODULE(_structs, m) {
X(constraint);
X(slidercrank);
X(crankbroken);
X(frustum);
#undef X
#define X(var) \
python/mujoco/structs.h
+1
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@@ -232,6 +232,7 @@ class MjWrapper<raw::MjVisualRgba> : public WrapperBase<raw::MjVisualRgba> {
X(constraint);
X(slidercrank);
X(crankbroken);
X(frustum);
#undef X
};
src/engine/engine_io.c
+2
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@@ -245,6 +245,7 @@ void mj_defaultVisual(mjVisual* vis) {
vis->scale.framewidth = 0.1;
vis->scale.constraint = 0.1;
vis->scale.slidercrank = 0.2;
vis->scale.frustum = 10.0;
// colors
setf4(vis->rgba.fog, 0., 0., 0., 1.);
@@ -269,6 +270,7 @@ void mj_defaultVisual(mjVisual* vis) {
setf4(vis->rgba.constraint, .9, .0, .0, 1.);
setf4(vis->rgba.slidercrank, .5, .3, .8, 1.);
setf4(vis->rgba.crankbroken, .9, .0, .0, 1.);
setf4(vis->rgba.frustum, 1., 1., .0, .2);
}
src/engine/engine_vis_visualize.c
+8 -6
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@@ -1407,7 +1407,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
FINISH
// set type and category: frame
objtype = mjOBJ_UNKNOWN;
objtype = mjOBJ_UNKNOWN;
category = mjCAT_DECOR;
if (!(category & catmask) || vopt->frame != mjFRAME_GEOM) {
continue;
@@ -1483,7 +1483,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
FINISH
// set category for site frame
category = mjCAT_DECOR;
category = mjCAT_DECOR;
if (!(category & catmask) || vopt->frame != mjFRAME_SITE) {
continue;
}
@@ -1563,7 +1563,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
FINISH
// set category for camera frame
category = mjCAT_DECOR;
category = mjCAT_DECOR;
if (!(category & catmask) || vopt->frame != mjFRAME_CAMERA) {
continue;
}
@@ -1600,11 +1600,13 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// camera frustum
if (vopt->flags[mjVIS_CAMERA]) {
float rgba[] = {1, 1, 0, .2};
objtype = mjOBJ_CAMERA;
category = mjCAT_DECOR;
const float* rgba = m->vis.rgba.frustum;
mjtNum vnear[4][3], vfar[4][3];
mjtNum center[3];
mjtNum znear = m->vis.map.znear * m->stat.extent;
mjtNum zfar = m->vis.map.zfar * m->stat.extent;
mjtNum zfar = m->vis.scale.frustum * scl;
float zver[2], zhor[2];
for (int i=0; i < m->ncam; i++) {
if (m->cam_sensorsize[2*i+1] == 0) {
@@ -1710,7 +1712,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
FINISH
// set category for light frame
category = mjCAT_DECOR;
category = mjCAT_DECOR;
if (!(category & catmask) || vopt->frame != mjFRAME_LIGHT) {
continue;
}
src/render/render_gl3.c
+2 -2
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@@ -215,8 +215,8 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
float rgba[4] = {geom->rgba[0], geom->rgba[1], geom->rgba[2], geom->rgba[3]};
int behind, whichface, lighting;
// lines to do not cast shadows
if (mode == mjrRND_SHADOWCAST && geom->type == mjGEOM_LINE) {
// lines and triangles do not cast shadows
if (mode == mjrRND_SHADOWCAST && (geom->type == mjGEOM_LINE || geom->category == mjCAT_DECOR)) {
return;
}
src/xml/xml_native_reader.cc
+6 -4
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@@ -121,14 +121,14 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"map", "?", "13", "stiffness", "stiffnessrot", "force", "torque", "alpha",
"fogstart", "fogend", "znear", "zfar", "haze", "shadowclip", "shadowscale",
"actuatortendon"},
{"scale", "?", "16", "forcewidth", "contactwidth", "contactheight", "connect", "com",
{"scale", "?", "17", "forcewidth", "contactwidth", "contactheight", "connect", "com",
"camera", "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength",
"actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank"},
{"rgba", "?", "22", "fog", "haze", "force", "inertia", "joint",
"actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
{"rgba", "?", "23", "fog", "haze", "force", "inertia", "joint",
"actuator", "actuatornegative", "actuatorpositive", "com",
"camera", "light", "selectpoint", "connect", "contactpoint", "contactforce",
"contactfriction", "contacttorque", "contactgap", "rangefinder",
"constraint", "slidercrank", "crankbroken"},
"constraint", "slidercrank", "crankbroken", "frustum"},
{">"},
{"statistic", "*", "5", "meaninertia", "meanmass", "meansize", "extent", "center"},
@@ -2765,6 +2765,7 @@ void mjXReader::Visual(XMLElement* section) {
ReadAttr(elem, "framewidth", 1, &vis->scale.framewidth, text);
ReadAttr(elem, "constraint", 1, &vis->scale.constraint, text);
ReadAttr(elem, "slidercrank", 1, &vis->scale.slidercrank, text);
ReadAttr(elem, "frustum", 1, &vis->scale.frustum, text);
}
// rgba sub-element
@@ -2791,6 +2792,7 @@ void mjXReader::Visual(XMLElement* section) {
ReadAttr(elem, "constraint", 4, vis->rgba.constraint, text);
ReadAttr(elem, "slidercrank", 4, vis->rgba.slidercrank, text);
ReadAttr(elem, "crankbroken", 4, vis->rgba.crankbroken, text);
ReadAttr(elem, "frustum", 4, vis->rgba.frustum, text);
}
// advance to next element
src/xml/xml_native_writer.cc
+2
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@@ -1082,6 +1082,7 @@ void mjXWriter::Visual(XMLElement* root) {
WriteAttr(elem, "framewidth", 1, &vis->scale.framewidth, &visdef.scale.framewidth);
WriteAttr(elem, "constraint", 1, &vis->scale.constraint, &visdef.scale.constraint);
WriteAttr(elem, "slidercrank", 1, &vis->scale.slidercrank, &visdef.scale.slidercrank);
WriteAttr(elem, "frustum", 1, &vis->scale.frustum, &visdef.scale.frustum);
if (!elem->FirstAttribute()) {
section->DeleteChild(elem);
}
@@ -1110,6 +1111,7 @@ void mjXWriter::Visual(XMLElement* root) {
WriteAttr(elem, "constraint", 4, vis->rgba.constraint, visdef.rgba.constraint);
WriteAttr(elem, "slidercrank", 4, vis->rgba.slidercrank, visdef.rgba.slidercrank);
WriteAttr(elem, "crankbroken", 4, vis->rgba.crankbroken, visdef.rgba.crankbroken);
WriteAttr(elem, "frustum", 4, vis->rgba.frustum, visdef.rgba.frustum);
if (!elem->FirstAttribute()) {
section->DeleteChild(elem);
}
test/engine/testdata/vis_visualize/frustum.xml
Vendored
+2
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@@ -4,6 +4,8 @@
<mujoco>
<visual>
<map znear="0.01"/>
<rgba frustum="1. 1. 0 0.2"/>
<scale frustum="3"/>
</visual>
<asset>
unity/Runtime/Bindings/MjBindings.cs
+2
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@@ -5038,6 +5038,7 @@ public unsafe struct scale {
public float framewidth;
public float constraint;
public float slidercrank;
public float frustum;
}
[StructLayout(LayoutKind.Sequential)]
@@ -5064,6 +5065,7 @@ public unsafe struct rgba {
public fixed float constraint[4];
public fixed float slidercrank[4];
public fixed float crankbroken[4];
public fixed float frustum[4];
}
[StructLayout(LayoutKind.Sequential)]