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Add frustum visualization for orthographic cameras.

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PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
This commit is contained in:
Yuval Tassa
2025-12-22 03:42:46 -08:00
committed by Copybara-Service
parent 158525269b
commit c7f5766345
4 changed files with 43 additions and 32 deletions
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test/engine/testdata/vis_visualize/orthographic.xml
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+3 -3
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@@ -4,7 +4,7 @@
<visual>
<!-- free camera is orthorgaphic with a 5m vertical field-of-view -->
<global orthographic="true" fovy="5"/>
<scale camera="1"/>
<scale camera="0.5"/>
</visual>
<asset>
@@ -26,9 +26,9 @@
</body>
<!-- box should pefectly fit within field-of-view -->
<camera name="fovy = 1" pos=".5 .5 2" projection="orthographic" fovy="1"/>
<camera name="fovy = 1" pos=".5 .5 2" projection="orthographic" fovy="1" resolution="640 480"/>
<!-- 2 floor squares should pefectly fit within field-of-view -->
<camera name="fovy = 2" pos="0 0 2" fovy="2"/> <!-- inherits projection="orthographic" from defaults -->
<camera name="fovy = 2" pos="0 0 3" fovy="2"/> <!-- inherits projection="orthographic" from defaults -->
</worldbody>
</mujoco>