Add flag to mjrContext to support legacy depth mapping by default

2023-09-26 13:34:00 -04:00
parent d32eb6bd12
commit 2e52bf807b
8 changed files with 40 additions and 0 deletions
@@ -621,6 +621,15 @@ ENUMS: Mapping[str, EnumDecl] = dict([
             ('mjFB_OFFSCREEN', 1),
         ]),
     )),
+    ('mjtDepthMapping',
+     EnumDecl(
+         name='mjtDepthMapping',
+         declname='enum mjtDepthMapping_',
+         values=dict([
+             ('mjDM_ZEROTOONE', 0),
+             ('mjDM_ONETOZERO', 1),
+         ]),
+     )),
    ('mjtFontScale',
     EnumDecl(
         name='mjtFontScale',
@@ -7126,6 +7126,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 type=ValueType(name='int'),
                 doc='default color pixel format for mjr_readPixels',
             ),
+             StructFieldDecl(
+                 name='readDepthMapping',
+                 type=ValueType(name='int'),
+                 doc='depth mapping, 0 to 1 (default, legacy), or 1 to 0 (reversed, native)',  # pylint: disable=line-too-long
+             ),
         ),
     )),
    ('mjuiState',