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Reduce "shadow acne" artifacts

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PiperOrigin-RevId: 725640931
Change-Id: I95df97d6076b99c12e291f69e8e54bbe70538293
This commit is contained in:
Google DeepMind
2025-02-11 08:27:14 -08:00
committed by Copybara-Service
parent cef5b31a3f
commit ac2a324fbd
2 changed files with 11 additions and 2 deletions
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src/render/render_gl3.c
+10 -2
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@@ -1205,10 +1205,15 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
glClear(GL_DEPTH_BUFFER_BIT);
glViewport(
1, 1, con->shadowSize-2, con->shadowSize-2); // avoid infinite shadows from edges
glCullFace(GL_FRONT);
glShadeModel(GL_FLAT);
glDisable(GL_LIGHTING);
glColorMask(0, 0, 0, 0);
int cull_face = glIsEnabled(GL_CULL_FACE);
glDisable(GL_CULL_FACE); // all faces cast shadows
glEnable(GL_POLYGON_OFFSET_FILL);
float kOffsetFactor = -1.5f;
float kOffsetUnits = -4.0f;
glPolygonOffset(kOffsetFactor, kOffsetUnits); // prevents "shadow acne"
// render all geoms to depth texture
for (int j=0; j < ngeom; j++) {
@@ -1220,7 +1225,10 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
con->currentBuffer == mjFB_WINDOW ? 0 : con->offFBO);
glDrawBuffer(drawbuffer);
glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height);
glCullFace(GL_BACK);
if (cull_face) {
glEnable(GL_CULL_FACE);
}
glDisable(GL_POLYGON_OFFSET_FILL);
glShadeModel(GL_SMOOTH);
glEnable(GL_LIGHTING);
glColorMask(1, 1, 1, 1);