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

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

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d

doc/XMLreference.rst

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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
+  // lines and triangles do not cast shadows
-  if (mode == mjrRND_SHADOWCAST && geom->type == mjGEOM_LINE) {
+  if (mode == mjrRND_SHADOWCAST && (geom->type == mjGEOM_LINE || geom->category == mjCAT_DECOR)) {
     return;
   }
 

src/xml/xml_native_reader.cc

@@ -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"},
+            "actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
-        {"rgba", "?", "22", "fog", "haze", "force", "inertia", "joint",
+        {"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

@@ -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

@@ -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

@@ -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)]