Merge pull request #978 from aftersomemath:depth-precision-in-place
PiperOrigin-RevId: 572961667 Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
This commit is contained in:
Copybara-Service
@@ -502,6 +502,16 @@ These are the possible framebuffers. They are used as an argument to the functio
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.. mujoco-include:: mjtFramebuffer
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mjtDepthMap
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~~~~~~~~~~~
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These are the depth mapping options. They are used as a value for the ``readPixelDepth`` attribute of the
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:ref:`mjrContext` struct, to control how the depth returned by :ref:`mjr_readPixels` is mapped from
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``znear`` to ``zfar``.
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.. mujoco-include:: mjtDepthMap
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.. _mjtFontScale:
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mjtFontScale
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+12
-8
@@ -131,15 +131,19 @@ General
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22. Added multi-threaded constraint solving via :ref:`mj_island` and :ref:`mjThreadPool` to :ref:`testspeed<saTestspeed>`
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exposed via npoolthread flag. The `22 humanoids <https://github.com/deepmind/mujoco/blob/main/model/humanoid/22_humanoids.xml>`__
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model shows a 3x speedup compared to the single threaded simulation.
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23. Implemented reversed Z rendering for better depth precision. An enum :ref:`mjtDepthMap` was added with values
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:ref:`mjDEPTH_ZERONEAR` and :ref:`mjDEPTH_ZEROFAR`, which can be used to set the new ``readDepthMap`` attribute in
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:ref:`mjrContext`` to control how the depth returned by :ref:`mjr_readPixels` is mapped from ``znear`` to ``zfar``.
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`Contribution <https://github.com/google-deepmind/mujoco/pull/978>`__ by `Levi Burner <https://github.com/aftersomemath>`__.
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Python bindings
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^^^^^^^^^^^^^^^
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23. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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24. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
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camera name used the default camera.
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24. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
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visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
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25. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
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25. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
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visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
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26. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
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and ``viewer.launch_passive``, which allow users to launch a viewer with UI panels hidden.
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Simulate
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@@ -149,21 +153,21 @@ Simulate
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:align: right
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:width: 240px
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26. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
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27. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
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:ref:`Python viewer<PyViewerManaged>`. State history can be viewed by scrubbing the History slider and (more
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precisely) with the left and right arrow keys. See screen capture:
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27. The ``LOADING...`` label is now shown correctly.
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28. The ``LOADING...`` label is now shown correctly.
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`Contribution <https://github.com/google-deepmind/mujoco/pull/1070>`__ by
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`Levi Burner <https://github.com/aftersomemath>`__.
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Bug fixes
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^^^^^^^^^
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28. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
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29. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
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midphase collision trees.
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29. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
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30. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
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Version 2.3.7 (July 20, 2023)
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@@ -1443,6 +1443,10 @@ typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
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mjFB_WINDOW = 0, // default/window buffer
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mjFB_OFFSCREEN // offscreen buffer
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} mjtFramebuffer;
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typedef enum mjtDepthMap_ { // depth mapping for `mjr_readPixels`
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mjDEPTH_ZERONEAR = 0, // standard depth map; 0: znear, 1: zfar
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mjDEPTH_ZEROFAR = 1 // reversed depth map; 1: znear, 0: zfar
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} mjtDepthMap;
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typedef enum mjtFontScale_ { // font scale, used at context creation
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mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
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mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
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@@ -1546,6 +1550,9 @@ struct mjrContext_ { // custom OpenGL context
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// pixel output format
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int readPixelFormat; // default color pixel format for mjr_readPixels
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// depth output format
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int readDepthMap; // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
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};
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typedef struct mjrContext_ mjrContext;
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typedef enum mjtTaskStatus_ { // status values for mjTask
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@@ -43,6 +43,10 @@ typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
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mjFB_OFFSCREEN // offscreen buffer
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} mjtFramebuffer;
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typedef enum mjtDepthMap_ { // depth mapping for `mjr_readPixels`
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mjDEPTH_ZERONEAR = 0, // standard depth map; 0: znear, 1: zfar
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mjDEPTH_ZEROFAR = 1 // reversed depth map; 1: znear, 0: zfar
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} mjtDepthMap;
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typedef enum mjtFontScale_ { // font scale, used at context creation
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mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
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@@ -155,6 +159,9 @@ struct mjrContext_ { // custom OpenGL context
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// pixel output format
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int readPixelFormat; // default color pixel format for mjr_readPixels
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// depth output format
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int readDepthMap; // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
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};
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typedef struct mjrContext_ mjrContext;
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@@ -650,6 +650,15 @@ ENUMS: Mapping[str, EnumDecl] = dict([
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('mjFB_OFFSCREEN', 1),
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]),
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)),
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('mjtDepthMap',
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EnumDecl(
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name='mjtDepthMap',
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declname='enum mjtDepthMap_',
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values=dict([
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('mjDEPTH_ZERONEAR', 0),
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('mjDEPTH_ZEROFAR', 1),
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]),
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)),
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('mjtFontScale',
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EnumDecl(
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name='mjtFontScale',
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@@ -7905,6 +7905,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
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type=ValueType(name='int'),
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doc='default color pixel format for mjr_readPixels',
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),
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StructFieldDecl(
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name='readDepthMap',
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type=ValueType(name='int'),
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doc='depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR',
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),
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),
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)),
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('mjuiState',
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@@ -215,6 +215,7 @@ PYBIND11_MODULE(_render, pymodule) {
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X(windowDoublebuffer);
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X(currentBuffer);
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X(readPixelFormat);
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X(readDepthMap);
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#undef X
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#define X(var) \
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@@ -86,6 +86,7 @@ the clause:
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_render.mjr_setBuffer(
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_enums.mjtFramebuffer.mjFB_OFFSCREEN.value, self._mjr_context
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)
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self._mjr_context.readDepthMap = _enums.mjtDepthMap.mjDEPTH_ZEROFAR
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# Default render flags.
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self._depth_rendering = False
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@@ -138,7 +139,9 @@ the clause:
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"""
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original_flags = self._scene.flags.copy()
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if self._segmentation_rendering:
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# Using segmented rendering for depth makes the calculated depth more
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# accurate at far distances.
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if self._depth_rendering or self._segmentation_rendering:
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self._scene.flags[_enums.mjtRndFlag.mjRND_SEGMENT] = True
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self._scene.flags[_enums.mjtRndFlag.mjRND_IDCOLOR] = True
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@@ -173,11 +176,34 @@ the clause:
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near = self._model.vis.map.znear * extent
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far = self._model.vis.map.zfar * extent
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# Convert from [0 1] to depth in units of length, see links below:
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# http://stackoverflow.com/a/6657284/1461210
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# https://www.khronos.org/opengl/wiki/Depth_Buffer_Precision
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out = near / (1 - out * (1 - near / far))
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# Calculate OpenGL perspective matrix values in float32 precision
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# so they are close to what glFrustum returns
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# https://registry.khronos.org/OpenGL-Refpages/gl2.1/xhtml/glFrustum.xml
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zfar = np.float32(far)
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znear = np.float32(near)
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c_coef = -(zfar + znear) / (zfar - znear)
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d_coef = -(np.float32(2) * zfar * znear) / (zfar - znear)
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# In reverse Z mode the perspective matrix is transformed by the following
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c_coef = np.float32(-0.5) * c_coef - np.float32(0.5)
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d_coef = np.float32(-0.5) * d_coef
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# We need 64 bits to convert Z from ndc to metric depth without noticeable
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# losses in precision
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out_64 = out.astype(np.float64)
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# Undo OpenGL projection
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# Note: We do not need to take action to convert from window coordinates
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# to normalized device coordinates because in reversed Z mode the mapping
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# is identity
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out_64 = d_coef / (out_64 + c_coef)
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# Cast result back to float32 for backwards compatibility
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# This has a small accuracy cost
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out[:] = out_64.astype(np.float32)
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# Reset scene flags.
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np.copyto(self._scene.flags, original_flags)
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elif self._segmentation_rendering:
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_render.mjr_readPixels(out, None, self._rect, self._mjr_context)
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+15
-3
@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
|
||||
//
|
||||
// Based on the OpenGL loader generated by glad 0.1.35 on Mon Mar 21 12:42:33 2022.
|
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// Based on the OpenGL loader generated by glad 0.1.34 on Thu Jun 22 14:40:03 2023.
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//
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// The original generated code is distributed under CC0.
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// https://creativecommons.org/publicdomain/zero/1.0/
|
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@@ -22,6 +22,8 @@
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// APIs: gl=1.5
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||||
// Profile: compatibility
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||||
// Extensions:
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// GL_ARB_clip_control,
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// GL_ARB_depth_buffer_float,
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// GL_ARB_framebuffer_object,
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// GL_ARB_seamless_cube_map,
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// GL_ARB_vertex_buffer_object,
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@@ -32,9 +34,9 @@
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||||
// Reproducible: False
|
||||
//
|
||||
// Commandline:
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||||
// --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
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||||
// --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
|
||||
// Online:
|
||||
// https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
|
||||
// https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
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|
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#if defined(__GNUC__) && !defined(__clang__)
|
||||
#pragma GCC diagnostic push
|
||||
@@ -829,10 +831,13 @@ PFNGLWINDOWPOS3IPROC mjGlad_glWindowPos3i = NULL;
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PFNGLWINDOWPOS3IVPROC mjGlad_glWindowPos3iv = NULL;
|
||||
PFNGLWINDOWPOS3SPROC mjGlad_glWindowPos3s = NULL;
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PFNGLWINDOWPOS3SVPROC mjGlad_glWindowPos3sv = NULL;
|
||||
int mjGLAD_GL_ARB_clip_control = 0;
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int mjGLAD_GL_ARB_depth_buffer_float = 0;
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int mjGLAD_GL_ARB_framebuffer_object = 0;
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int mjGLAD_GL_ARB_seamless_cube_map = 0;
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int mjGLAD_GL_ARB_vertex_buffer_object = 0;
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int mjGLAD_GL_KHR_debug = 0;
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PFNGLCLIPCONTROLPROC mjGlad_glClipControl = NULL;
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PFNGLISRENDERBUFFERPROC mjGlad_glIsRenderbuffer = NULL;
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PFNGLBINDRENDERBUFFERPROC mjGlad_glBindRenderbuffer = NULL;
|
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PFNGLDELETERENDERBUFFERSPROC mjGlad_glDeleteRenderbuffers = NULL;
|
||||
@@ -1355,6 +1360,10 @@ static void mjGlad_load_GL_VERSION_1_5(GLADloadproc load) {
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mjGlad_glGetBufferParameteriv = (PFNGLGETBUFFERPARAMETERIVPROC)load("glGetBufferParameteriv");
|
||||
mjGlad_glGetBufferPointerv = (PFNGLGETBUFFERPOINTERVPROC)load("glGetBufferPointerv");
|
||||
}
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||||
static void mjGlad_load_GL_ARB_clip_control(GLADloadproc load) {
|
||||
if(!mjGLAD_GL_ARB_clip_control) return;
|
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mjGlad_glClipControl = (PFNGLCLIPCONTROLPROC)load("glClipControl");
|
||||
}
|
||||
static void mjGlad_load_GL_ARB_framebuffer_object(GLADloadproc load) {
|
||||
if(!mjGLAD_GL_ARB_framebuffer_object) return;
|
||||
mjGlad_glIsRenderbuffer = (PFNGLISRENDERBUFFERPROC)load("glIsRenderbuffer");
|
||||
@@ -1419,6 +1428,8 @@ static void mjGlad_load_GL_KHR_debug(GLADloadproc load) {
|
||||
}
|
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static int mjGlad_find_extensionsGL(void) {
|
||||
if (!mjGlad_get_exts()) return 0;
|
||||
mjGLAD_GL_ARB_clip_control = mjGlad_has_ext("GL_ARB_clip_control");
|
||||
mjGLAD_GL_ARB_depth_buffer_float = mjGlad_has_ext("GL_ARB_depth_buffer_float");
|
||||
mjGLAD_GL_ARB_framebuffer_object = mjGlad_has_ext("GL_ARB_framebuffer_object");
|
||||
mjGLAD_GL_ARB_seamless_cube_map = mjGlad_has_ext("GL_ARB_seamless_cube_map");
|
||||
mjGLAD_GL_ARB_vertex_buffer_object = mjGlad_has_ext("GL_ARB_vertex_buffer_object");
|
||||
@@ -1491,6 +1502,7 @@ int mjGladLoadGLUnsafe(void) {
|
||||
mjGlad_load_GL_VERSION_1_5(mjGlad_get_proc);
|
||||
|
||||
if (!mjGlad_find_extensionsGL()) return 0;
|
||||
mjGlad_load_GL_ARB_clip_control(mjGlad_get_proc);
|
||||
mjGlad_load_GL_ARB_framebuffer_object(mjGlad_get_proc);
|
||||
mjGlad_load_GL_ARB_vertex_buffer_object(mjGlad_get_proc);
|
||||
mjGlad_load_GL_KHR_debug(mjGlad_get_proc);
|
||||
|
||||
+25
-3
@@ -12,7 +12,7 @@
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
//
|
||||
// Based on the OpenGL loader generated by glad 0.1.35 on Mon Mar 21 12:42:33 2022.
|
||||
// Based on the OpenGL loader generated by glad 0.1.34 on Thu Jun 22 14:40:03 2023.
|
||||
//
|
||||
// The original generated code is distributed under CC0.
|
||||
// https://creativecommons.org/publicdomain/zero/1.0/
|
||||
@@ -22,6 +22,8 @@
|
||||
// APIs: gl=1.5
|
||||
// Profile: compatibility
|
||||
// Extensions:
|
||||
// GL_ARB_clip_control,
|
||||
// GL_ARB_depth_buffer_float,
|
||||
// GL_ARB_framebuffer_object,
|
||||
// GL_ARB_seamless_cube_map,
|
||||
// GL_ARB_vertex_buffer_object,
|
||||
@@ -32,9 +34,9 @@
|
||||
// Reproducible: False
|
||||
//
|
||||
// Commandline:
|
||||
// --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
|
||||
// --profile="compatibility" --api="gl=1.5" --generator="c" --spec="gl" --extensions="GL_ARB_clip_control,GL_ARB_depth_buffer_float,GL_ARB_framebuffer_object,GL_ARB_seamless_cube_map,GL_ARB_vertex_buffer_object,GL_KHR_debug"
|
||||
// Online:
|
||||
// https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
|
||||
// https://glad.dav1d.de/#profile=compatibility&language=c&specification=gl&loader=on&api=gl%3D1.5&extensions=GL_ARB_clip_control&extensions=GL_ARB_depth_buffer_float&extensions=GL_ARB_framebuffer_object&extensions=GL_ARB_seamless_cube_map&extensions=GL_ARB_vertex_buffer_object&extensions=GL_KHR_debug
|
||||
|
||||
#ifndef MUJOCO_SRC_RENDER_GLAD_GLAD_H_
|
||||
#define MUJOCO_SRC_RENDER_GLAD_GLAD_H_
|
||||
@@ -2304,6 +2306,15 @@ typedef void (APIENTRYP PFNGLGETBUFFERPOINTERVPROC)(GLenum target, GLenum pname,
|
||||
GLAPI PFNGLGETBUFFERPOINTERVPROC mjGlad_glGetBufferPointerv;
|
||||
#define glGetBufferPointerv mjGlad_glGetBufferPointerv
|
||||
#endif
|
||||
#define GL_LOWER_LEFT 0x8CA1
|
||||
#define GL_UPPER_LEFT 0x8CA2
|
||||
#define GL_NEGATIVE_ONE_TO_ONE 0x935E
|
||||
#define GL_ZERO_TO_ONE 0x935F
|
||||
#define GL_CLIP_ORIGIN 0x935C
|
||||
#define GL_CLIP_DEPTH_MODE 0x935D
|
||||
#define GL_DEPTH_COMPONENT32F 0x8CAC
|
||||
#define GL_DEPTH32F_STENCIL8 0x8CAD
|
||||
#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV 0x8DAD
|
||||
#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506
|
||||
#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING 0x8210
|
||||
#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE 0x8211
|
||||
@@ -2487,6 +2498,17 @@ GLAPI PFNGLGETBUFFERPOINTERVPROC mjGlad_glGetBufferPointerv;
|
||||
#define GL_STACK_OVERFLOW_KHR 0x0503
|
||||
#define GL_STACK_UNDERFLOW_KHR 0x0504
|
||||
#define GL_DISPLAY_LIST 0x82E7
|
||||
#ifndef GL_ARB_clip_control
|
||||
#define GL_ARB_clip_control 1
|
||||
GLAPI int mjGLAD_GL_ARB_clip_control;
|
||||
typedef void (APIENTRYP PFNGLCLIPCONTROLPROC)(GLenum origin, GLenum depth);
|
||||
GLAPI PFNGLCLIPCONTROLPROC mjGlad_glClipControl;
|
||||
#define glClipControl mjGlad_glClipControl
|
||||
#endif
|
||||
#ifndef GL_ARB_depth_buffer_float
|
||||
#define GL_ARB_depth_buffer_float 1
|
||||
GLAPI int mjGLAD_GL_ARB_depth_buffer_float;
|
||||
#endif
|
||||
#ifndef GL_ARB_framebuffer_object
|
||||
#define GL_ARB_framebuffer_object 1
|
||||
GLAPI int mjGLAD_GL_ARB_framebuffer_object;
|
||||
|
||||
@@ -1062,7 +1062,7 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_R_TO_TEXTURE);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_LEQUAL);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_GEQUAL);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_DEPTH_TEXTURE_MODE, GL_INTENSITY);
|
||||
glTexGeni(GL_S, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
|
||||
glTexGeni(GL_T, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
|
||||
@@ -1126,11 +1126,14 @@ static void makeOff(mjrContext* con) {
|
||||
mju_error("Could not allocate offscreen depth and stencil buffer");
|
||||
}
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
|
||||
|
||||
GLenum depth_buffer_format =
|
||||
mjGLAD_GL_ARB_depth_buffer_float ? GL_DEPTH32F_STENCIL8 : GL_DEPTH24_STENCIL8;
|
||||
if (con->offSamples) {
|
||||
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH24_STENCIL8,
|
||||
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, depth_buffer_format,
|
||||
con->offWidth, con->offHeight);
|
||||
} else {
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, con->offWidth, con->offHeight);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
|
||||
}
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
|
||||
GL_RENDERBUFFER, con->offDepthStencil);
|
||||
@@ -1169,7 +1172,7 @@ static void makeOff(mjrContext* con) {
|
||||
mju_error("Could not allocate offscreen depth and stencil buffer_r");
|
||||
}
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, con->offWidth, con->offHeight);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
|
||||
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
|
||||
GL_RENDERBUFFER, con->offDepthStencil_r);
|
||||
|
||||
@@ -1535,7 +1538,6 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
|
||||
glPixelStorei(GL_PACK_ALIGNMENT, 1);
|
||||
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
|
||||
|
||||
// free previous context
|
||||
mjr_freeContext(con);
|
||||
|
||||
// no model: offscreen and font only
|
||||
@@ -1607,6 +1609,9 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
|
||||
|
||||
// set default color pixel format for mjr_readPixels
|
||||
con->readPixelFormat = GL_RGB;
|
||||
|
||||
// set default depth mapping for mjr_readPixels
|
||||
con->readDepthMap = mjDEPTH_ZERONEAR;
|
||||
}
|
||||
|
||||
|
||||
@@ -1830,10 +1835,10 @@ MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
|
||||
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
|
||||
if (con->offSamples) {
|
||||
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH24_STENCIL8,
|
||||
glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH32F_STENCIL8,
|
||||
con->offWidth, con->offHeight);
|
||||
} else {
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, con->offWidth, con->offHeight);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
|
||||
}
|
||||
|
||||
if (con->offSamples) {
|
||||
@@ -1841,6 +1846,6 @@ MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
|
||||
|
||||
glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, con->offWidth, con->offHeight);
|
||||
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
|
||||
}
|
||||
}
|
||||
|
||||
+20
-1
@@ -14,6 +14,7 @@
|
||||
|
||||
#include "render/render_gl2.h"
|
||||
|
||||
#include <math.h>
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
|
||||
@@ -92,6 +93,23 @@ void mjr_restoreBuffer(const mjrContext* con) {
|
||||
|
||||
|
||||
|
||||
static inline void flipDepthIfRequired(float* depth, mjrRect viewport, const mjrContext* con) {
|
||||
if (con->readDepthMap == mjDEPTH_ZERONEAR) {
|
||||
int npixel = viewport.width * viewport.height;
|
||||
for (int i = 0; i < npixel; i++) {
|
||||
depth[i] = 1.0 - depth[i]; // Reverse the reversed Z buffer
|
||||
}
|
||||
} else if (!mjGLAD_GL_ARB_clip_control) {
|
||||
mju_warning("ARB_clip_control unavailable while mjDEPTH_ZEROFAR requested, "
|
||||
"depth accuracy will be limited");
|
||||
} else if (!mjGLAD_GL_ARB_depth_buffer_float) {
|
||||
mju_warning("ARB_depth_buffer_float unavailable while mjDEPTH_ZEROFAR requested, "
|
||||
"depth accuracy will be limited");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// read pixels from current OpenGL framebuffer to client buffer
|
||||
// viewport is in OpenGL framebuffer; client buffer starts at (0,0)
|
||||
void mjr_readPixels(unsigned char* rgb, float* depth,
|
||||
@@ -115,6 +133,7 @@ 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);
|
||||
flipDepthIfRequired(depth, viewport, con);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -159,6 +178,7 @@ 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);
|
||||
flipDepthIfRequired(depth, viewport, con);
|
||||
}
|
||||
|
||||
// restore currentBuffer
|
||||
@@ -432,7 +452,6 @@ void mjr_text(int font, const char* txt, const mjrContext* con,
|
||||
static int draw_overlay(int font, mjrRect viewport, int skip, int gridpos,
|
||||
float red, float green, float blue,
|
||||
const char* overlay, const mjrContext* con) {
|
||||
|
||||
int pos, ncthis, nc, nr, W, H, flg_big = (font == mjFONT_BIG);
|
||||
int PAD = 5, sz = mjMIN(mjMAXOVERLAY, (int)strlen(overlay));
|
||||
char text[mjMAXOVERLAY];
|
||||
|
||||
+34
-6
@@ -580,6 +580,9 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
|
||||
// common options
|
||||
glDisable(GL_BLEND);
|
||||
glEnable(GL_NORMALIZE);
|
||||
if (mjGLAD_GL_ARB_clip_control) {
|
||||
glClipControl(GL_LOWER_LEFT, GL_ZERO_TO_ONE);
|
||||
}
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
glDepthMask(GL_TRUE);
|
||||
if (scn->flags[mjRND_CULL_FACE]) {
|
||||
@@ -588,11 +591,11 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
|
||||
glDisable(GL_CULL_FACE);
|
||||
}
|
||||
glShadeModel(GL_SMOOTH);
|
||||
glDepthFunc(GL_LEQUAL);
|
||||
glDepthFunc(GL_GEQUAL);
|
||||
glDepthRange(0, 1);
|
||||
glAlphaFunc(GL_GEQUAL, 0.99f);
|
||||
glClearColor(0, 0, 0, 0);
|
||||
glClearDepth(1);
|
||||
glClearDepth(0);
|
||||
glClearStencil(0);
|
||||
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
|
||||
|
||||
@@ -682,6 +685,15 @@ static void setView(int view, mjrRect viewport, const mjvScene* scn, const mjrCo
|
||||
// set projection
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
if (mjGLAD_GL_ARB_clip_control) {
|
||||
// reverse Z rendering mapping [znear, zfar] -> [1, 0] (ndc)
|
||||
glTranslatef(0.0f, 0.0f, 0.5f);
|
||||
glScalef(1.0f, 1.0f, -0.5f);
|
||||
}
|
||||
else {
|
||||
// reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
|
||||
glScalef(1.0f, 1.0f, -1.0f);
|
||||
}
|
||||
glFrustum(cam.frustum_center - halfwidth,
|
||||
cam.frustum_center + halfwidth,
|
||||
cam.frustum_bottom,
|
||||
@@ -757,9 +769,15 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
|
||||
float biasMatrix[16] = {
|
||||
0.5f, 0.0f, 0.0f, 0.0f,
|
||||
0.0f, 0.5f, 0.0f, 0.0f,
|
||||
0.0f, 0.0f, 0.5f, 0.0f,
|
||||
0.5f, 0.5f, 0.5f, 1.0f
|
||||
0.0f, 0.0f, 1.0f, 0.0f,
|
||||
0.5f, 0.5f, 0.0f, 1.0f
|
||||
};
|
||||
if (!mjGLAD_GL_ARB_clip_control) {
|
||||
// account for conversion from ndc to window coordinates
|
||||
biasMatrix[2*4+2] = 0.5;
|
||||
biasMatrix[3*4+2] = 0.5;
|
||||
}
|
||||
|
||||
float tempMatrix[16], textureMatrix[16];
|
||||
mjvGeom *thisgeom, tempgeom;
|
||||
mjvLight *thislight;
|
||||
@@ -884,7 +902,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
|
||||
}
|
||||
|
||||
// render with stereo
|
||||
for (int view=(stereo?0:-1); view < (stereo?2:0); view++) {
|
||||
for (int view = (stereo ? 0 : -1); view < (stereo ? 2 : 0); view++) {
|
||||
// change drawbuffer for QUADBUFFERED stereo
|
||||
if (stereo == mjSTEREO_QUADBUFFERED) {
|
||||
if (con->windowDoublebuffer) {
|
||||
@@ -1107,6 +1125,15 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
|
||||
// set projection: from light viewpoint
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
if (mjGLAD_GL_ARB_clip_control) {
|
||||
// reverse Z rendering mapping [znear, zfar] -> [1, 0] (ndc)
|
||||
glTranslatef(0.0f, 0.0f, 0.5f);
|
||||
glScalef(1.0f, 1.0f, -0.5f);
|
||||
}
|
||||
else {
|
||||
// reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
|
||||
glScalef(1.0f, 1.0f, -1.0f);
|
||||
}
|
||||
if (thislight->directional) {
|
||||
glOrtho(-con->shadowClip, con->shadowClip,
|
||||
-con->shadowClip, con->shadowClip,
|
||||
@@ -1127,7 +1154,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
|
||||
glBindFramebuffer(GL_FRAMEBUFFER, con->shadowFBO);
|
||||
glDrawBuffer(GL_NONE);
|
||||
glClear(GL_DEPTH_BUFFER_BIT);
|
||||
glViewport(1, 1, con->shadowSize-2, con->shadowSize-2); // avoid infinite shadows from edges
|
||||
glViewport(
|
||||
1, 1, con->shadowSize-2, con->shadowSize-2); // avoid infinite shadows from edges
|
||||
glCullFace(GL_FRONT);
|
||||
glShadeModel(GL_FLAT);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
@@ -406,6 +406,10 @@ public enum mjtFramebuffer : int{
|
||||
mjFB_WINDOW = 0,
|
||||
mjFB_OFFSCREEN = 1,
|
||||
}
|
||||
public enum mjtDepthMap : int{
|
||||
mjDEPTH_ZERONEAR = 0,
|
||||
mjDEPTH_ZEROFAR = 1,
|
||||
}
|
||||
public enum mjtFontScale : int{
|
||||
mjFONTSCALE_50 = 50,
|
||||
mjFONTSCALE_100 = 100,
|
||||
@@ -5596,6 +5600,7 @@ public unsafe struct mjrContext_ {
|
||||
public int windowDoublebuffer;
|
||||
public int currentBuffer;
|
||||
public int readPixelFormat;
|
||||
public int readDepthMap;
|
||||
}
|
||||
|
||||
[StructLayout(LayoutKind.Sequential)]
|
||||
|
||||
Reference in New Issue
Block a user