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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/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