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

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_vis_visualize.c
+8 -6
View File
@@ -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;
}