Refactor camera orthographic attribute to projection enum.

PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f

src/engine/engine_vis_visualize.c

@@ -522,7 +522,7 @@ void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjMod
     if (cid < 0 || cid >= m->ncam) {
       mjERROR("fixed camera id is outside valid range");
     }
-    orthographic = m->cam_orthographic[cid];
+    orthographic = m->cam_projection[cid] == mjPROJ_ORTHOGRAPHIC;
     fovy = m->cam_fovy[cid];
 
     // if positive sensorsize, get sensorsize and intrinsic
@@ -2763,7 +2763,7 @@ void mjv_updateCamera(const mjModel* m, const mjData* d, mjvCamera* cam, mjvScen
       mjERROR("fixed camera id is outside valid range");
     }
     ipd = m->cam_ipd[cid];
-    orthographic = m->cam_orthographic[cid];
+    orthographic = m->cam_projection[cid] == mjPROJ_ORTHOGRAPHIC;
     break;
 
   default:

src/user/user_model.cc

@@ -2864,7 +2864,7 @@ void mjCModel::CopyTree(mjModel* m) {
       m->cam_targetbodyid[cid] = pc->targetbodyid;
       mjuu_copyvec(m->cam_pos+3*cid, pc->pos, 3);
       mjuu_copyvec(m->cam_quat+4*cid, pc->quat, 4);
-      m->cam_orthographic[cid] = pc->orthographic;
+      m->cam_projection[cid] = pc->proj;
       m->cam_fovy[cid] = (mjtNum)pc->fovy;
       m->cam_ipd[cid] = (mjtNum)pc->ipd;
       mjuu_copyvec(m->cam_resolution+2*cid, pc->resolution, 2);

src/xml/xml_base.h

@@ -27,6 +27,7 @@
 // keyword maps (defined in implementation files)
 extern const int joint_sz;
 extern const int bodysleep_sz;
+extern const int projection_sz;
 extern const int camlight_sz;
 extern const int lighttype_sz;
 extern const int integrator_sz;
@@ -53,6 +54,7 @@ extern const mjMap TFAuto_map[];
 extern const mjMap joint_map[];
 extern const mjMap bodysleep_map[];
 extern const mjMap geom_map[];
+extern const mjMap projection_map[];
 extern const mjMap camlight_map[];
 extern const mjMap lighttype_map[];
 extern const mjMap integrator_map[];

src/xml/xml_native_reader.cc

@@ -171,7 +171,7 @@ std::vector<const char*> MJCF[nMJCF] = {
             "hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
         {"site", "?", "type", "group", "pos", "quat", "material",
             "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
-        {"camera", "?", "orthographic", "fovy", "ipd", "resolution", "pos", "quat",
+        {"camera", "?", "projection", "fovy", "ipd", "resolution", "pos", "quat",
             "axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel",
             "principal", "principalpixel", "sensorsize", "user"},
         {"light", "?", "pos", "dir", "bulbradius", "intensity", "range",
@@ -285,7 +285,7 @@ std::vector<const char*> MJCF[nMJCF] = {
         {"attach", "*", "model", "body", "prefix"},
         {"site", "*",  "name", "class", "type", "group", "pos", "quat",
             "material", "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
-        {"camera", "*", "name", "class", "orthographic", "fovy", "ipd", "resolution", "pos",
+        {"camera", "*", "name", "class", "projection", "fovy", "ipd", "resolution", "pos",
             "quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target",
             "focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
         {"light", "*", "name", "class", "directional", "type", "castshadow", "active",
@@ -590,6 +590,13 @@ const mjMap geom_map[mjNGEOMTYPES] = {
 };
 
 
+// projection type
+const int projection_sz = 2;
+const mjMap projection_map[projection_sz] = {
+  {"perspective",   mjPROJ_PERSPECTIVE},
+  {"orthographic",  mjPROJ_ORTHOGRAPHIC}
+};
+
 // camlight type
 const int camlight_sz = 5;
 const mjMap camlight_map[camlight_sz] = {
@@ -1926,8 +1933,8 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
   ReadAlternative(elem, camera->alt);
   ReadAttr(elem, "ipd", 1, &camera->ipd, text);
 
-  if (MapValue(elem, "orthographic", &n, bool_map, 2)) {
-    camera->orthographic = (n == 1);
+  if (MapValue(elem, "projection", &n, projection_map, 2)) {
+    camera->proj = (mjtProjection)n;
   }
 
   bool has_principal = ReadAttr(elem, "principalpixel", 2, camera->principal_pixel, text) ||

src/xml/xml_native_writer.cc

@@ -573,7 +573,7 @@ void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def
   WriteAttr(elem, "ipd", 1, &camera->ipd, &def->Camera().ipd);
   WriteAttrKey(elem, "mode", camlight_map, camlight_sz, camera->mode, def->Camera().mode);
   WriteAttr(elem, "resolution", 2, camera->resolution, def->Camera().resolution);
-  WriteAttrKey(elem, "orthographic", bool_map, 2, camera->orthographic, def->Camera().orthographic);
+  WriteAttrKey(elem, "projection", projection_map, projection_sz, camera->proj, def->Camera().proj);
 
   // camera intrinsics if specified
   if (camera->sensor_size[0] > 0 && camera->sensor_size[1] > 0) {