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

include/mujoco/mjrender.h

@@ -39,15 +39,6 @@ typedef enum mjtFramebuffer_ {    // OpenGL framebuffer option
   mjFB_OFFSCREEN                  // offscreen buffer
 } mjtFramebuffer;
 
-typedef enum mjtDepthMapping_ {   // OpenGL depth buffer mapping (from znear to zfar)
-  mjDB_NEGONETOONE  = 0,          // Negative one to one (OpenGL default)
-  mjDB_ONETOZERO                  // Reversed Z buffer (decreases numerical error)
-} mjtDepthMapping;
-
-typedef enum mjtDepthPrecision_ { // OpenGL depth buffer precision
-  mjDB_INT24        = 0,          // 24 bit integer buffer (OpenGL default)
-  mjDB_FLOAT32                    // 32 bit float buffer
-} mjtDepthPrecision;
 
 typedef enum mjtFontScale_ {      // font scale, used at context creation
   mjFONTSCALE_50      = 50,       // 50% scale, suitable for low-res rendering
@@ -160,12 +151,6 @@ struct mjrContext_ {              // custom OpenGL context
 
   // pixel output format
   int     readPixelFormat;        // default color pixel format for mjr_readPixels
-
-  // depth buffer mode
-  int     depthMapping;           // depth buffer mapping from [znear zfar] to normalized device coordinates: mjDB_NEGONETOONE or mjDB_ONETOZERO
-
-  // depth buffer precision
-  int     depthPrecision;         // depth buffer precision: mjDB_INT24 or mjDB_FLOAT32
 };
 typedef struct mjrContext_ mjrContext;
 

introspect/enums.py

@@ -621,24 +621,6 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjFB_OFFSCREEN', 1),
          ]),
      )),
-    ('mjtDepthMapping',
-     EnumDecl(
-         name='mjtDepthMapping',
-         declname='enum mjtDepthMapping_',
-         values=dict([
-             ('mjDB_NEGONETOONE', 0),
-             ('mjDB_ONETOZERO', 1),
-         ]),
-     )),
-    ('mjtDepthPrecision',
-     EnumDecl(
-         name='mjtDepthPrecision',
-         declname='enum mjtDepthPrecision_',
-         values=dict([
-             ('mjDB_INT24', 0),
-             ('mjDB_FLOAT32', 1),
-         ]),
-     )),
     ('mjtFontScale',
      EnumDecl(
          name='mjtFontScale',

introspect/structs.py

@@ -7126,16 +7126,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='default color pixel format for mjr_readPixels',
              ),
-             StructFieldDecl(
-                 name='depthMapping',
-                 type=ValueType(name='int'),
-                 doc='depth buffer mapping from [znear zfar] to normalized device coordinates: mjDB_NEGONETOONE or mjDB_ONETOZERO',  # pylint: disable=line-too-long
-             ),
-             StructFieldDecl(
-                 name='depthPrecision',
-                 type=ValueType(name='int'),
-                 doc='depth buffer precision: mjDB_INT24 or mjDB_FLOAT32',
-             ),
          ),
      )),
     ('mjuiState',

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 "

python/mujoco/renderer.py

@@ -32,9 +32,7 @@ class Renderer:
       model: _structs.MjModel,
       height: int = 240,
       width: int = 320,
-      max_geom: int = 10000,
+      max_geom: int = 10000
-      depth_mapping: _enums.mjtDepthMapping =  _enums.mjtDepthMapping.mjDB_NEGONETOONE,
-      depth_precision: _enums.mjtDepthPrecision =  _enums.mjtDepthPrecision.mjDB_INT24,
   ) -> None:
     """Initializes a new `Renderer`.
 
@@ -45,8 +43,6 @@ class Renderer:
       max_geom: Optional integer specifying the maximum number of geoms that can
         be rendered in the same scene. If None this will be chosen automatically
         based on the estimated maximum number of renderable geoms in the model.
-      depth_mapping: Type of mapping from znear to zfar to z buffer ndc values
-      depth_precision: Precision of z buffer
     Raises:
       ValueError: If `camera_id` is outside the valid range, or if `width` or
         `height` exceed the dimensions of MuJoCo's offscreen framebuffer.
@@ -74,7 +70,6 @@ the clause:
     self._width = width
     self._height = height
     self._model = model
-    self._depth_mapping = depth_mapping
 
     self._scene = _structs.MjvScene(model=model, maxgeom=max_geom)
     self._scene_option = _structs.MjvOption()
@@ -86,7 +81,7 @@ the clause:
     self._gl_context = gl_context.GLContext(width, height)  # type: ignore
     self._gl_context.make_current()
     self._mjr_context = _render.MjrContext(
-        model, _enums.mjtFontScale.mjFONTSCALE_150.value, depth_mapping, depth_precision
+        model, _enums.mjtFontScale.mjFONTSCALE_150.value
     )
     _render.mjr_setBuffer(
         _enums.mjtFramebuffer.mjFB_OFFSCREEN.value, self._mjr_context
@@ -188,20 +183,16 @@ the clause:
       D = -(np.float32(2)*zfar*znear)/(zfar - znear)
 
       # In reverse Z mode the perspective matrix is transformed by the following
-      if self._depth_mapping == _enums.mjtDepthMapping.mjDB_ONETOZERO:
+      C = np.float32(-0.5)*C - np.float32(0.5)
-        C = np.float32(-0.5)*C - np.float32(0.5)
+      D = np.float32(-0.5)*D
-        D = np.float32(-0.5)*D
 
       # We need 64 bits to convert Z from ndc to metric depth without noticeable losses in precision
       out_64 = out.astype(np.float64)
 
-      # Convert depth from window coordinates to normalized device coordinates
-      # In reversed Z mode the mapping is identity
-      # https://registry.khronos.org/OpenGL-Refpages/gl4/html/glDepthRange.xhtml
-      if self._depth_mapping == _enums.mjtDepthMapping.mjDB_NEGONETOONE:
-        out_64 = 2.0*out_64 - 1.0
-
       # Undo OpenGL projection
+      # Note: We do not need to take action to convert from window coordinates to
+      # normalized device coordinates because in reversed Z mode the mapping
+      # is identity
       out_64 = D / (out_64 + C)
 
       # Cast result back to float32 for backwards compatibility

simulate/platform_ui_adapter.cc

@@ -27,7 +27,6 @@ void PlatformUIAdapter::FreeMjrContext() {
 
 bool PlatformUIAdapter::RefreshMjrContext(const mjModel* m, int fontscale) {
   if (m != last_model_ || fontscale != last_fontscale_) {
-    // con_.depthMapping =   mjDB_ONETOZERO;
     mjr_makeContext(m, &con_, fontscale);
     last_model_ = m;
     last_fontscale_ = fontscale;

src/render/render_context.c

@@ -1062,11 +1062,7 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_R_TO_TEXTURE);
-  if (con->depthMapping == mjDB_ONETOZERO) {
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_GEQUAL);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_GEQUAL);
-  } else {
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_LEQUAL);
-  }
   glTexParameteri(GL_TEXTURE_2D, GL_DEPTH_TEXTURE_MODE, GL_INTENSITY);
   glTexGeni(GL_S, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
   glTexGeni(GL_T, GL_TEXTURE_GEN_MODE, GL_EYE_LINEAR);
@@ -1125,17 +1121,16 @@ static void makeOff(mjrContext* con) {
   glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_RENDERBUFFER, con->offColor);
 
   // create depth and stencil buffer
-  GLenum depth_buffer_format = con->depthPrecision == mjDB_FLOAT32 ? GL_DEPTH32F_STENCIL8 : GL_DEPTH24_STENCIL8;
   glGenRenderbuffers(1, &con->offDepthStencil);
   if (!con->offDepthStencil) {
     mju_error("Could not allocate offscreen depth and stencil buffer");
   }
   glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
   if (con->offSamples) {
-    glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, depth_buffer_format,
+    glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH32F_STENCIL8,
                                      con->offWidth, con->offHeight);
   } else {
-    glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
+    glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
   }
   glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
                             GL_RENDERBUFFER, con->offDepthStencil);
@@ -1174,7 +1169,7 @@ static void makeOff(mjrContext* con) {
       mju_error("Could not allocate offscreen depth and stencil buffer_r");
     }
     glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
-    glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
+    glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
     glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT,
                               GL_RENDERBUFFER, con->offDepthStencil_r);
 
@@ -1546,15 +1541,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
   glPixelStorei(GL_PACK_ALIGNMENT, 1);
   glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
 
-  // free previous context but keep depth settings
-  // Doing this is the only way users can control these
-  // settings without breaking changes to either the
-  // behaviour of mjr_makeContext or the signature
-  int oldDepthMapping   = con->depthMapping;
-  int oldDepthPrecision = con->depthPrecision;
   mjr_freeContext(con);
-  con->depthMapping = oldDepthMapping;
-  con->depthPrecision = oldDepthPrecision;
 
   // no model: offscreen and font only
   if (!m) {
@@ -1847,13 +1834,12 @@ MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
   }
 
 
-  GLenum depth_buffer_format = con->depthPrecision == mjDB_FLOAT32 ? GL_DEPTH32F_STENCIL8 : GL_DEPTH24_STENCIL8;
   glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil);
   if (con->offSamples) {
-    glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, depth_buffer_format,
+    glRenderbufferStorageMultisample(GL_RENDERBUFFER, con->offSamples, GL_DEPTH32F_STENCIL8,
                                      con->offWidth, con->offHeight);
   } else {
-    glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
+    glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
   }
 
   if (con->offSamples) {
@@ -1861,6 +1847,6 @@ MJAPI void mjr_resizeOffscreen(int width, int height, mjrContext* con) {
     glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA8, con->offWidth, con->offHeight);
 
     glBindRenderbuffer(GL_RENDERBUFFER, con->offDepthStencil_r);
-    glRenderbufferStorage(GL_RENDERBUFFER, depth_buffer_format, con->offWidth, con->offHeight);
+    glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH32F_STENCIL8, con->offWidth, con->offHeight);
   }
 }

src/render/render_gl3.c

@@ -498,11 +498,7 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
   // common options
   glDisable(GL_BLEND);
   glEnable(GL_NORMALIZE);
-  if (con->depthMapping == mjDB_ONETOZERO) {
+  glClipControl(GL_LOWER_LEFT, GL_ZERO_TO_ONE);
-    glClipControl(GL_LOWER_LEFT, GL_ZERO_TO_ONE);
-  } else {
-    glClipControl(GL_LOWER_LEFT, GL_NEGATIVE_ONE_TO_ONE);
-  }
   glEnable(GL_DEPTH_TEST);
   glDepthMask(GL_TRUE);
   if (scn->flags[mjRND_CULL_FACE]) {
@@ -511,19 +507,11 @@ static void initGL3(const mjvScene* scn, const mjrContext* con) {
     glDisable(GL_CULL_FACE);
   }
   glShadeModel(GL_SMOOTH);
-  if (con->depthMapping == mjDB_ONETOZERO) {
+  glDepthFunc(GL_GEQUAL);
-    glDepthFunc(GL_GEQUAL);
-  } else {
-    glDepthFunc(GL_LEQUAL);
-  }
   glDepthRange(0, 1);
   glAlphaFunc(GL_GEQUAL, 0.99f);
   glClearColor(0, 0, 0, 0);
-  if (con->depthMapping == mjDB_ONETOZERO) {
+  glClearDepth(0);
-    glClearDepth(0);
-  } else {
-    glClearDepth(1);
-  }
   glClearStencil(0);
   glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
 
@@ -613,11 +601,9 @@ static void setView(int view, mjrRect viewport, const mjvScene* scn, const mjrCo
   // set projection
   glMatrixMode(GL_PROJECTION);
   glLoadIdentity();
-  if (con->depthMapping == mjDB_ONETOZERO) {
+  // reverse Z rendering mapping (znear, zfar) -> (1, 0)
-    // account for GL_ZERO_TO_ONE and reverse Z
+  glTranslatef(0,0,0.5);
-    glTranslatef(0,0,0.5);
+  glScalef(1,1,-0.5);
-    glScalef(1,1,-0.5);
-  }
   glFrustum(cam.frustum_center - halfwidth,
             cam.frustum_center + halfwidth,
             cam.frustum_bottom,
@@ -690,24 +676,12 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
   float temp[4], headpos[3], forward[3], skyboxdst;
   float camProject[16], camView[16], lightProject[16], lightView[16];
   double clipplane[4];
-  float biasMatrixOneToZero[16] = {
+  float biasMatrix[16] = {
     0.5f, 0.0f, 0.0f, 0.0f,
     0.0f, 0.5f, 0.0f, 0.0f,
     0.0f, 0.0f, 1.0f, 0.0f,
     0.5f, 0.5f, 0.0f, 1.0f
   };
-  float biasMatrixNegOneToOne[16] = {
-    0.5f, 0.0f, 0.0f, 0.0f,
-    0.0f, 0.5f, 0.0f, 0.0f,
-    0.0f, 0.0f, 0.5f, 0.0f,
-    0.5f, 0.5f, 0.5f, 1.0f
-  };
-  float* biasMatrix;
-  if (con->depthMapping == mjDB_ONETOZERO) {
-    biasMatrix = biasMatrixOneToZero;
-  } else {
-    biasMatrix = biasMatrixNegOneToOne;
-  }
 
   float tempMatrix[16], textureMatrix[16];
   mjvGeom *thisgeom, tempgeom;
@@ -1056,11 +1030,9 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           // set projection: from light viewpoint
           glMatrixMode(GL_PROJECTION);
           glLoadIdentity();
-          if (con->depthMapping == mjDB_ONETOZERO) {
+          // reverse Z rendering mapping (znear, zfar) -> (1, 0)
-            // account for GL_ZERO_TO_ONE and reverse Z
+          glTranslatef(0,0,0.5);
-            glTranslatef(0,0,0.5);
+          glScalef(1,1,-0.5);
-            glScalef(1,1,-0.5);
-          }
           if (thislight->directional) {
             glOrtho(-con->shadowClip, con->shadowClip,
                     -con->shadowClip, con->shadowClip,

unity/Runtime/Bindings/MjBindings.cs

@@ -389,14 +389,6 @@ public enum mjtFramebuffer : int{
   mjFB_WINDOW = 0,
   mjFB_OFFSCREEN = 1,
 }
-public enum mjtDepthMapping : int{
-  mjDB_NEGONETOONE = 0,
-  mjDB_ONETOZERO = 1,
-}
-public enum mjtDepthPrecision : int{
-  mjDB_INT24 = 0,
-  mjDB_FLOAT32 = 1,
-}
 public enum mjtFontScale : int{
   mjFONTSCALE_50 = 50,
   mjFONTSCALE_100 = 100,