From 517c11365608ae7683c12674f26f97ed265c0ed3 Mon Sep 17 00:00:00 2001 From: Sam Haves Date: Wed, 29 Apr 2026 09:57:41 -0700 Subject: [PATCH] Add Rendering differences section to MjWarp documentation. PiperOrigin-RevId: 907644012 Change-Id: I6d79792e4cb4088a89cb3f995f3bddf9b0aada15 --- doc/mjwarp/index.rst | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst index f5d10431..2d4c0f83 100644 --- a/doc/mjwarp/index.rst +++ b/doc/mjwarp/index.rst @@ -1286,3 +1286,19 @@ CCD colliders and will raise a ``NotImplementedError`` when calling :func:`mjw.p * - box-box - :ref:`NATIVECCD ` enabled (on by default) - Set margin to ``0`` or disable ``NATIVECCD`` + +Rendering +--------- + +The batch renderer included in MJWarp serves a different purpose than MuJoCo's renderer. The MJWarp batch +renderer is a single hit raycaster optimized for high throughput and low fidelity. + +It supports: + * Simple lambertian diffuse shading + * Basic point lights and directional lights + * Textures + * Shadows + +It does not support: + * Advanced lighting effects such as global illumination + * Physically based material properties