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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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doc/changelog.rst
+1
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@@ -32,6 +32,7 @@ General
behavior is to perform such a shallow copy. The old behavior of creating a deep copy of the child model while behavior is to perform such a shallow copy. The old behavior of creating a deep copy of the child model while
attaching can be restored by setting the deep copy flag to 1. attaching can be restored by setting the deep copy flag to 1.
- Added :ref:`potential<sensor-e_potential>` and :ref:`kinetic<sensor-e_kinetic>` energy sensors. - Added :ref:`potential<sensor-e_potential>` and :ref:`kinetic<sensor-e_kinetic>` energy sensors.
- Improved shadow rendering in the native renderer.
MJX MJX
^^^ ^^^
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); glClear(GL_DEPTH_BUFFER_BIT);
glViewport( glViewport(
1, 1, con->shadowSize-2, con->shadowSize-2); // avoid infinite shadows from edges 1, 1, con->shadowSize-2, con->shadowSize-2); // avoid infinite shadows from edges
glCullFace(GL_FRONT);
glShadeModel(GL_FLAT); glShadeModel(GL_FLAT);
glDisable(GL_LIGHTING); glDisable(GL_LIGHTING);
glColorMask(0, 0, 0, 0); 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 // render all geoms to depth texture
for (int j=0; j < ngeom; j++) { 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); con->currentBuffer == mjFB_WINDOW ? 0 : con->offFBO);
glDrawBuffer(drawbuffer); glDrawBuffer(drawbuffer);
glViewport(viewport.left, viewport.bottom, viewport.width, viewport.height); 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); glShadeModel(GL_SMOOTH);
glEnable(GL_LIGHTING); glEnable(GL_LIGHTING);
glColorMask(1, 1, 1, 1); glColorMask(1, 1, 1, 1);