Merge pull request #425 from aftersomemath:cull-face-flag

PiperOrigin-RevId: 466904386
Change-Id: Icd5515c2bbb8f8f3417501ea43c8e5ae22b32f91

src/engine/engine_vis_init.c

@@ -101,7 +101,8 @@ const char* mjRNDSTRING[mjNRNDFLAG][3] = {
   {"Fog",         "0", "G"},
   {"Haze",        "1", "/"},
   {"Segment",     "0", ","},
-  {"Id Color",    "0", "."}
+  {"Id Color",    "0", "."},
+  {"Cull Face",   "1", ""}
 };
 
 

src/render/render_gl3.c

@@ -491,7 +491,11 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
   glEnable(GL_NORMALIZE);
   glEnable(GL_DEPTH_TEST);
   glDepthMask(GL_TRUE);
-  glEnable(GL_CULL_FACE);
+  if (scn->flags[mjRND_CULL_FACE]) {
+    glEnable(GL_CULL_FACE);
+  } else {
+    glDisable(GL_CULL_FACE);
+  }
   glShadeModel(GL_SMOOTH);
   glDepthFunc(GL_LEQUAL);
   glDepthRange(0, 1);