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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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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);
}