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Add mjGEOM_LINEBOX, used in visualization of collision trees.

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PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
This commit is contained in:
Yuval Tassa
2023-12-15 05:35:34 -08:00
committed by Copybara-Service
parent f2a967348c
commit 38fa756a20
8 changed files with 84 additions and 75 deletions
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src/render/render_gl3.c
+35
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@@ -404,6 +404,41 @@ static void renderGeom(const mjvGeom* geom, int mode, const float* headpos,
}
break;
case mjGEOM_LINEBOX: // box with line edges
glLineWidth(1.5*con->lineWidth);
lighting = glIsEnabled(GL_LIGHTING);
glDisable(GL_LIGHTING);
// bottom face
glBegin(GL_LINE_LOOP);
glVertex3f(-size[0], -size[1], -size[2]);
glVertex3f( size[0], -size[1], -size[2]);
glVertex3f( size[0], size[1], -size[2]);
glVertex3f(-size[0], size[1], -size[2]);
glEnd();
// top face
glBegin(GL_LINE_LOOP);
glVertex3f(-size[0], -size[1], size[2]);
glVertex3f( size[0], -size[1], size[2]);
glVertex3f( size[0], size[1], size[2]);
glVertex3f(-size[0], size[1], size[2]);
glEnd();
// vertical edges
glBegin(GL_LINES);
glVertex3f(-size[0], -size[1], -size[2]);
glVertex3f(-size[0], -size[1], size[2]);
glVertex3f( size[0], -size[1], -size[2]);
glVertex3f( size[0], -size[1], size[2]);
glVertex3f( size[0], size[1], -size[2]);
glVertex3f( size[0], size[1], size[2]);
glVertex3f(-size[0], size[1], -size[2]);
glVertex3f(-size[0], size[1], size[2]);
glEnd();
glLineWidth(con->lineWidth);
if (lighting) {
glEnable(GL_LIGHTING);
}
break;
case mjGEOM_TRIANGLE: // triangle
glBegin(GL_TRIANGLES);
glVertex3f(0, 0, 0);