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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;