Yuval Tassa
07fc95ca9a
Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees. Other related changes: * Fix bug in the ordering of `cam_xxx` elements in `mjModel`. * Make camera visualization translucent only when the frustum is visualized. * Added a button to `simulate` to toggle between perspective and orthographic free cameras. https://youtu.be/ZXBTEIDWHhs PiperOrigin-RevId: 642293435 Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
35 lines
1.0 KiB
XML
35 lines
1.0 KiB
XML
<!-- Test model for visual debugging of orthographic cameras. -->
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<mujoco>
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<visual>
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<!-- free camera is orthorgaphic with a 5m vertical field-of-view -->
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<global orthographic="true" fovy="5"/>
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<scale camera="1"/>
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</visual>
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<asset>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="10 10" texuniform="false" reflectance=".2"/>
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</asset>
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<default>
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<camera orthographic="true"/>
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</default>
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<worldbody>
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<light pos="0 0 3"/>
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<geom type="plane" size="10 10 .01" material="grid"/>
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<body pos=".5 .5 .5">
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<freejoint/>
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<geom type="box" size=".5 .5 .5" pos="0 0 .5"/>
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</body>
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<!-- box should pefectly fit within field-of-view -->
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<camera name="fovy = 1" pos=".5 .5 2" orthographic="true" fovy="1"/>
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<!-- 2 floor squares should pefectly fit within field-of-view -->
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<camera name="fovy = 2" pos="0 0 2" fovy="2"/> <!-- inherits orthographic="true" from defaults -->
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</worldbody>
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</mujoco>
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