38fa756a20
Add mjGEOM_LINEBOX, used in visualization of collision trees.
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PiperOrigin-RevId: 591224734
Change-Id: I09ad8c4b711021ff4dd5548ba5381d25d5a3d7f8
2023-12-15 05:36:35 -08:00
b39cca725a
Move headlight pos/dir computation from mjr_render to mjv_updateScene.
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PiperOrigin-RevId: 586630110
Change-Id: Ia44ea944016ccfe081682375cdb975342695d826
2023-11-30 04:15:05 -08:00
1a47a97040
Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114 .
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Added `frustum` to `rgba` and `scale` in the `visual` section.
PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
2023-10-25 09:08:20 -07:00
59164702ab
Merge pull request #978 from aftersomemath:depth-precision-in-place
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PiperOrigin-RevId: 572961667
Change-Id: I69011ddf835ae286e30e7f84cca67867cfe94fa4
2023-10-12 11:18:36 -07:00
86859ad382
Restore shadows when flex is present.
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PiperOrigin-RevId: 572936749
Change-Id: I57f8d486810767422bc2874433497eb5073bf63b
2023-10-12 09:58:59 -07:00
5a70ad08ab
Add Flex component.
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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
c6961b77d7
Fallback for if GL_ARB_clip_control not available
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If GL_ARB_clip_control not available then [znear, zfar] -> [1, -1] instead of [1, 0] in normalized device coordinates
Thus, Z is still reversed, but not shifted, clipping should still work properly, and conversion to window coordinates does not cause accuracy regression compared to non-reversed Z rendering.
2023-10-02 18:30:57 -04:00
56403b4dce
Fixups to comments and flags for reversed Z rendering
2023-09-29 19:53:58 -04:00
d32eb6bd12
In place change to reverse Z rendering and 32 bit float offscreen depth buffer
2023-09-29 19:53:47 -04:00
fc7b212369
Support reversed Z rendering and float32 offscreen depth buffer
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Combined, both options greatly improve camera depth accuracy compared to
OpenGL default Z mapping and int24 depth buffer.
Requires GL_ARB_clip_control and ARB_depth_buffer_float extensions
2023-09-29 19:52:09 -04:00
36d2ffe4f2
Specify camera parameters using standard robotics conventions.
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PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:19:19 -07:00
dfd48dd821
Replace mjMIN and mjMAX with mju_min and mju_max, where possible.
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PiperOrigin-RevId: 566602924
Change-Id: I2d24183d0d9df3e647bb2d7d7544473582f38128
2023-09-19 05:40:41 -07:00
fdb041580c
Add Signed Distance Field to collision geometries.
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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:15:23 -07:00
d1c6561f1c
Add spaces around comparison operators in render/ and ui/ source files.
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PiperOrigin-RevId: 536001297
Change-Id: Ia0d97bf9f886aea03b8363e4d97e18301520909f
2023-05-28 07:04:49 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
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PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
fe18e58ad2
Rendering of mjGEOM_LINE respects size[0] (width argument of mjv_makeconnector), denominated in pixels.
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- Before this change, line width was hardcoded to 3 pixels and the width argument of mjv_makeConnector was ignored.
- After this change, the width argument is respected and interpreted in units of pixel. The non-standard width unit is ok since lines can only be drawn programmatically.
PiperOrigin-RevId: 516529265
Change-Id: I27bffabba69cde415d2ada67263a887c9240efbf
2023-03-14 08:17:36 -07:00
581f009c02
Cull face flag
2022-08-05 11:53:46 -04:00
95b6327bb5
Fix rendering of reflection for transparent geoms.
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PiperOrigin-RevId: 462589429
Change-Id: Ibda2d2b83cb43804644fecfe3a1e2a8496f3de56
2022-07-22 04:09:02 -07:00
1913a02b40
Initial open sourcing of MuJoCo.
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PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
Yuval Tassa