From 9868486af0de75863126e0f47b6d1e9df8253675 Mon Sep 17 00:00:00 2001
From: Levi Burner <leviburner@gmail.com>
Date: Fri, 29 Sep 2023 20:52:31 -0400
Subject: [PATCH] Add changelog.rst entry for reversed Z rendering

---
 doc/changelog.rst | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/doc/changelog.rst b/doc/changelog.rst
index 02aecec6..3ff666e0 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -115,6 +115,9 @@ General
       attributes are specified. See the following
       `example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/vis_visualize/frustum.xml>`__.
     - Note that these attributes only take effect for offline rendering and do not affect interactive visualisation.
+21. Implemented reversed Z rendering and added enum ``mjtDepthMap`` with elements ``mjDEPTH_ZERONEAR`` and
+    ``mjDEPTH_ZEROFAR`` which can be used to set ``readDepthMap`` in ``mjrContext`` to control how the depth returned by
+    ``mjr_readPixels`` is mapped from ``znear`` to ``zfar``.
 
 Python bindings
 ^^^^^^^^^^^^^^^