In place change to reverse Z rendering and 32 bit float offscreen depth buffer

python/mujoco/render.cc

@@ -34,10 +34,6 @@ class MjWrapper<raw::MjrContext> : public WrapperBase<raw::MjrContext> {
  public:
   MjWrapper();
   MjWrapper(const MjModelWrapper& model, int fontscale);
-  MjWrapper(const MjModelWrapper& model,
-            int fontscale,
-            mjtDepthMapping depthmapping,
-            mjtDepthPrecision depthprecision);
   MjWrapper(const MjWrapper&) = delete;
   MjWrapper(MjWrapper&&) = default;
   ~MjWrapper() = default;
@@ -126,35 +122,6 @@ MjrContextWrapper::MjWrapper(const MjModelWrapper& model, int fontscale)
       X_SKIN(skinfaceVBO),
       X(charWidth),
       X(charWidthBig) {}
-
-MjrContextWrapper::MjWrapper(const MjModelWrapper& model,
-                             int fontscale,
-                             mjtDepthMapping depthmapping,
-                             mjtDepthPrecision depthprecision)
-    : WrapperBase([fontscale, depthmapping, depthprecision](const raw::MjModel* m) {
-        raw::MjrContext *const ctx = new raw::MjrContext;
-        mjr_defaultContext(ctx);
-        ctx->depthMapping   = depthmapping;
-        ctx->depthPrecision = depthprecision;
-        InterceptMjErrors(mjr_makeContext)(m, ctx, fontscale);
-        return ctx;
-      }(model.get()), &MjrContextCapsuleDestructor),
-      X(fogRGBA),
-      X(auxWidth),
-      X(auxHeight),
-      X(auxSamples),
-      X(auxFBO),
-      X(auxFBO_r),
-      X(auxColor),
-      X(auxColor_r),
-      X(textureType),
-      X(texture),
-      X_SKIN(skinvertVBO),
-      X_SKIN(skinnormalVBO),
-      X_SKIN(skintexcoordVBO),
-      X_SKIN(skinfaceVBO),
-      X(charWidth),
-      X(charWidthBig) {}
 #undef X_SKIN
 #undef X
 
@@ -199,7 +166,6 @@ PYBIND11_MODULE(_render, pymodule) {
   py::class_<MjrContextWrapper> mjrContext(pymodule, "MjrContext");
   mjrContext.def(py::init<>());
   mjrContext.def(py::init<const MjModelWrapper&, int>());
-  mjrContext.def(py::init<const MjModelWrapper&, int, mjtDepthMapping, mjtDepthPrecision>());
   mjrContext.def(
       "free", [](MjrContextWrapper& self) { self.Free(); },
       py::doc("Frees resources in current active OpenGL context, sets struct "