chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add flag for depth rendering.

Browse Source 
PiperOrigin-RevId: 846203691
Change-Id: I5ec494446bcfc1f7c81536a87dd24f9967973563
This commit is contained in:
Haroon Qureshi
2025-12-18 04:35:28 -08:00
committed by Copybara-Service
parent 47e35e632f
commit 7190bd4912
11 changed files with 76 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/render/render_gl3.c
+49 -1
View File
@@ -1019,7 +1019,7 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
//---------------------------------- reflection rendering
// plane and box reflection rendering
if (scn->flags[mjRND_REFLECTION]) {
if (scn->flags[mjRND_REFLECTION] && !scn->flags[mjRND_DEPTH]) {
for (int i=0; i < ngeom; i++) {
// get geom pointer
thisgeom = scn->geoms + i;
@@ -1481,6 +1481,54 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
glDisable(GL_SCISSOR_TEST);
}
if (scn->flags[mjRND_DEPTH]) {
glPushAttrib(GL_ENABLE_BIT | GL_TRANSFORM_BIT | GL_TEXTURE_BIT |
GL_LIGHTING_BIT | GL_POLYGON_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glOrtho(0, 1, 0, 1, -1, 1);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
glDisable(GL_CULL_FACE);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
void* depth_buf = mju_malloc(sizeof(float) * viewport.width * viewport.height);
glReadPixels(0, 0, viewport.width, viewport.height, GL_DEPTH_COMPONENT, GL_FLOAT, depth_buf);
GLuint depth_tex;
glEnable(GL_TEXTURE_2D);
glGenTextures(1, &depth_tex);
glBindTexture(GL_TEXTURE_2D, depth_tex);
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, viewport.width, viewport.height,
0, GL_LUMINANCE, GL_FLOAT, depth_buf);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_REPLACE);
glColor4f(1, 1, 1, 1);
glBegin(GL_QUADS);
glTexCoord2f(0, 0); glVertex2f(0, 0);
glTexCoord2f(1, 0); glVertex2f(1, 0);
glTexCoord2f(1, 1); glVertex2f(1, 1);
glTexCoord2f(0, 1); glVertex2f(0, 1);
glEnd();
glDeleteTextures(1, &depth_tex);
mju_free(depth_buf);
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glPopAttrib();
}
// restore currentBuffer
mjr_restoreBuffer(con);
}