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Move headlight pos/dir computation from mjr_render to mjv_updateScene.

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PiperOrigin-RevId: 586630110
Change-Id: Ia44ea944016ccfe081682375cdb975342695d826
This commit is contained in:
Yuval Tassa
2023-11-30 04:12:57 -08:00
committed by Copybara-Service
parent 822b03446c
commit b39cca725a
3 changed files with 21 additions and 23 deletions
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src/render/render_gl3.c
+8 -17
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@@ -613,7 +613,7 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
// init lights
static void initLights(mjvScene* scn, const float* headpos, const float* gazedir) {
static void initLights(mjvScene* scn) {
// create some ambient light if no ligths are present
float global = scn->nlight ? 0 : 0.3f;
float rgba_global[4] = {global, global, global, 1};
@@ -623,14 +623,6 @@ static void initLights(mjvScene* scn, const float* headpos, const float* gazedir
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, 0);
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, 1);
// headlight: set pos and dir
if (scn->lights[0].headlight) {
for (int i=0; i < 3; i++) {
scn->lights[0].pos[i] = headpos[i];
scn->lights[0].dir[i] = gazedir[i];
}
}
// set light properties
for (int i=0; i < scn->nlight; i++) {
// colors
@@ -762,8 +754,8 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
int stereo, nt, ngeom = scn->ngeom, nlight = mjMIN(mjMAXLIGHT, scn->nlight);
unsigned int drawbuffer;
mjvGLCamera cam;
mjtNum hpos[3], hfwd[3];
float temp[4], headpos[3], forward[3], skyboxdst;
mjtNum hpos[3];
float temp[4], headpos[3], skyboxdst;
float camProject[16], camView[16], lightProject[16], lightView[16];
double clipplane[4];
float biasMatrix[16] = {
@@ -827,13 +819,12 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
drawbuffer = GL_COLOR_ATTACHMENT0;
}
// compute head position and gaze direction in model space
mjv_cameraInModel(hpos, hfwd, NULL, scn);
mju_n2f(headpos, hpos, 3);
mju_n2f(forward, hfwd, 3);
// init lights
initLights(scn, headpos, forward);
initLights(scn);
// compute head position in model space
mjv_cameraInModel(hpos, NULL, NULL, scn);
mju_n2f(headpos, hpos, 3);
// make list of transparent geoms
nt = 0;