Refactor camera orthographic attribute to projection enum.

PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f

doc/includes/references.h

@@ -538,6 +538,10 @@ typedef enum mjtGeom_ {           // type of geometric shape
 
   mjGEOM_NONE         = 1001      // missing geom type
 } mjtGeom;
+typedef enum mjtProjection_ {     // type of camera projection
+  mjPROJ_PERSPECTIVE  = 0,        // perspective
+  mjPROJ_ORTHOGRAPHIC             // orthographic
+} mjtProjection;
 typedef enum mjtCamLight_ {       // tracking mode for camera and light
   mjCAMLIGHT_FIXED    = 0,        // pos and rot fixed in body
   mjCAMLIGHT_TRACK,               // pos tracks body, rot fixed in global
@@ -1223,7 +1227,7 @@ struct mjModel_ {
   mjtNum*   cam_poscom0;          // global position rel. to sub-com in qpos0 (ncam x 3)
   mjtNum*   cam_pos0;             // global position rel. to body in qpos0    (ncam x 3)
   mjtNum*   cam_mat0;             // global orientation in qpos0              (ncam x 9)
-  int*      cam_orthographic;     // orthographic camera; 0: no, 1: yes       (ncam x 1)
+  int*      cam_projection;       // projection type (mjtProjection)          (ncam x 1)
   mjtNum*   cam_fovy;             // y field-of-view (ortho ? len : deg)      (ncam x 1)
   mjtNum*   cam_ipd;              // inter-pupilary distance                  (ncam x 1)
   int*      cam_resolution;       // resolution: pixels [width, height]       (ncam x 2)
@@ -2102,7 +2106,7 @@ typedef struct mjsCamera_ {        // camera specification
   mjString* targetbody;            // target body for tracking/targeting
 
   // intrinsics
-  int orthographic;                // is camera orthographic
+  mjtProjection proj;              // camera projection type
   double fovy;                     // y-field of view
   double ipd;                      // inter-pupilary distance
   float intrinsic[4];              // camera intrinsics (length)