Fixups to comments and flags for reversed Z rendering

include/mujoco/mjrender.h

@@ -39,10 +39,10 @@ typedef enum mjtFramebuffer_ {    // OpenGL framebuffer option
   mjFB_OFFSCREEN                  // offscreen buffer
 } mjtFramebuffer;
 
-typedef enum mjtDepthMapping_ {   // OpenGL depth buffer readout mapping (from znear to zfar)
-  mjDM_ZEROTOONE  = 0,            // Legacy default, reverses reversed Z rendering, performance penalty
-  mjDM_ONETOZERO                  // Native output of reversed Z rendering, decreases numerical error
-} mjtDepthMapping;
+typedef enum mjtDepthMap_ {       // depth mapping for `mjr_readPixels`
+  mjDEPTHMAP_01  = 0,             // standard depth map; 0: znear, 1: zfar
+  mjDEPTHMAP_10  = 1              // reversed depth map; 1: znear, 0: zfar
+} mjtDepthMap;
 
 typedef enum mjtFontScale_ {      // font scale, used at context creation
   mjFONTSCALE_50      = 50,       // 50% scale, suitable for low-res rendering
@@ -157,7 +157,7 @@ struct mjrContext_ {              // custom OpenGL context
   int     readPixelFormat;        // default color pixel format for mjr_readPixels
 
   // depth output format
-  int     readDepthMapping;       // depth mapping, 0 to 1 (default, legacy), or 1 to 0 (reversed, native)
+  int     readDepthMap;           // depth mapping: mjDEPTHMAP_01 or mjDEPTHMAP_10
 };
 typedef struct mjrContext_ mjrContext;
 

introspect/enums.py

@@ -621,13 +621,13 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjFB_OFFSCREEN', 1),
          ]),
      )),
-    ('mjtDepthMapping',
+    ('mjtDepthMap',
      EnumDecl(
-         name='mjtDepthMapping',
-         declname='enum mjtDepthMapping_',
+         name='mjtDepthMap',
+         declname='enum mjtDepthMap_',
          values=dict([
-             ('mjDM_ZEROTOONE', 0),
-             ('mjDM_ONETOZERO', 1),
+             ('mjDEPTHMAP_01', 0),
+             ('mjDEPTHMAP_10', 1),
          ]),
      )),
     ('mjtFontScale',

introspect/structs.py

@@ -7127,9 +7127,9 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='default color pixel format for mjr_readPixels',
              ),
              StructFieldDecl(
-                 name='readDepthMapping',
+                 name='readDepthMap',
                  type=ValueType(name='int'),
-                 doc='depth mapping, 0 to 1 (default, legacy), or 1 to 0 (reversed, native)',  # pylint: disable=line-too-long
+                 doc='depth mapping: mjDEPTHMAP_01 or mjDEPTHMAP_10',
              ),
          ),
      )),

python/mujoco/render.cc

@@ -215,7 +215,7 @@ PYBIND11_MODULE(_render, pymodule) {
   X(windowDoublebuffer);
   X(currentBuffer);
   X(readPixelFormat);
-  X(readDepthMapping);
+  X(readDepthMap);
 #undef X
 
 #define X(var)                      \

python/mujoco/renderer.py

@@ -86,7 +86,7 @@ the clause:
     _render.mjr_setBuffer(
         _enums.mjtFramebuffer.mjFB_OFFSCREEN.value, self._mjr_context
     )
-    self._mjr_context.readDepthMapping = _enums.mjtDepthMapping.mjDM_ONETOZERO
+    self._mjr_context.readDepthMap = _enums.mjtDepthMap.mjDEPTHMAP_10
 
     # Default render flags.
     self._depth_rendering = False

src/render/render_context.c

@@ -1614,7 +1614,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
   con->readPixelFormat = GL_RGB;
 
   // set default depth mapping for mjr_readPixels
-  con->readDepthMapping = mjDM_ZEROTOONE;
+  con->readDepthMap = mjDEPTHMAP_01;
 }
 
 
@@ -1836,7 +1836,6 @@ MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
     glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
   }
 
-
   glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
   if (con->offSamples) {
     glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH32F_STENCIL8,

src/render/render_gl2.c

@@ -115,7 +115,7 @@ void mjr_readPixels(unsigned char* rgb, float* depth,
     if (depth) {
       glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
                    GL_DEPTH_COMPONENT, GL_FLOAT, depth);
-      if (con->readDepthMapping == mjDM_ZEROTOONE) {
+      if (con->readDepthMap == mjDEPTHMAP_01) {
         int N_pixels = viewport.width * viewport.height;
         for (int i = 0; i < N_pixels; i++) depth[i] = 1.0 - depth[i]; // Reverse the reversed Z buffer
       }
@@ -164,7 +164,7 @@ void mjr_readPixels(unsigned char* rgb, float* depth,
       glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
                    GL_DEPTH_COMPONENT, GL_FLOAT, depth);
 
-      if (con->readDepthMapping == mjDM_ZEROTOONE) {
+      if (con->readDepthMap == mjDEPTHMAP_01) {
         int N_pixels = viewport.width * viewport.height;
         for (int i = 0; i < N_pixels; i++) depth[i] = 1.0 - depth[i]; // Reverse the reversed Z buffer
       }

src/render/render_gl3.c

@@ -601,9 +601,9 @@ static void setView(int view, mjrRect viewport, const mjvScene* scn, const mjrCo
   // set projection
   glMatrixMode(GL_PROJECTION);
   glLoadIdentity();
-  // reverse Z rendering mapping (znear, zfar) -> (1, 0)
-  glTranslatef(0,0,0.5);
-  glScalef(1,1,-0.5);
+  // reverse Z rendering mapping [znear, zfar] -> [1, 0]
+  glTranslatef(0.0f, 0.0f, 0.5f);
+  glScalef(1.0f, 1.0f, -0.5f);
   glFrustum(cam.frustum_center - halfwidth,
             cam.frustum_center + halfwidth,
             cam.frustum_bottom,
@@ -682,7 +682,6 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
     0.0f, 0.0f, 1.0f, 0.0f,
     0.5f, 0.5f, 0.0f, 1.0f
   };
-
   float tempMatrix[16], textureMatrix[16];
   mjvGeom *thisgeom, tempgeom;
   mjvLight *thislight;
@@ -1030,9 +1029,9 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           // set projection: from light viewpoint
           glMatrixMode(GL_PROJECTION);
           glLoadIdentity();
-          // reverse Z rendering mapping (znear, zfar) -> (1, 0)
-          glTranslatef(0,0,0.5);
-          glScalef(1,1,-0.5);
+          // reverse Z rendering mapping [znear, zfar] -> [1, 0]
+          glTranslatef(0.0f, 0.0f, 0.5f);
+          glScalef(1.0f , 1.0f, -0.5f);
           if (thislight->directional) {
             glOrtho(-con->shadowClip, con->shadowClip,
                     -con->shadowClip, con->shadowClip,

unity/Runtime/Bindings/MjBindings.cs

@@ -389,9 +389,9 @@ public enum mjtFramebuffer : int{
   mjFB_WINDOW = 0,
   mjFB_OFFSCREEN = 1,
 }
-public enum mjtDepthMapping : int{
-  mjDM_ZEROTOONE = 0,
-  mjDM_ONETOZERO = 1,
+public enum mjtDepthMap : int{
+  mjDEPTHMAP_01 = 0,
+  mjDEPTHMAP_10 = 1,
 }
 public enum mjtFontScale : int{
   mjFONTSCALE_50 = 50,