[FEATURE] Enabling rendering plane geometry one-sided.

genesis/options/morphs.py

@@ -331,10 +331,13 @@ class Plane(Primitive):
         Whether the entity needs to be visualized. Set it to False if you need a invisible object only for collision purposes. Defaults to True. `visualization` and `collision` cannot both be False. **This is only used for RigidEntity.**
     collision : bool, optional
         Whether the entity needs to be considered for collision checking. Defaults to True. `visualization` and `collision` cannot both be False. **This is only used for RigidEntity.**
+    double_sided : bool, optional
+        Whether the entity needs to be rendered as a one-sided or two-sided plane.
     """
 
     fixed: bool = True
     normal: tuple = (0, 0, 1)
+    double_sided: bool = False
 
     def __init__(self, **data):
         super().__init__(**data)
@@ -348,6 +351,8 @@ def __init__(self, **data):
         if self.requires_jac_and_IK:
             gs.raise_exception("`requires_jac_and_IK` must be False for `Plane`.")
 
+        self.double_sided = self.double_sided
+
         self.normal = tuple(np.array(self.normal) / np.linalg.norm(self.normal))
 
 

genesis/utils/mesh.py

@@ -860,24 +860,36 @@ def create_box(extents=None, color=(1.0, 1.0, 1.0, 1.0), bounds=None, wireframe=
 
 def create_plane(size=1e3, color=None, normal=(0.0, 0.0, 1.0)):
     thickness = 1e-2  # for safety
-    mesh = trimesh.creation.box(extents=[size, size, thickness])
+    half = size * 0.5
+    verts = np.array(
+        [
+            [-half, -half, 0.0],
+            [half, -half, 0.0],
+            [half, half, 0.0],
+            [-half, -half, 0.0],
+            [half, half, 0.0],
+            [-half, half, 0.0],
+        ],
+        dtype=np.float32,
+    )
+    faces = np.arange(6, dtype=np.int32).reshape(-1, 3)
+    uv = np.array(
+        [
+            [0, 0],
+            [size, 0],
+            [size, size],
+            [0, 0],
+            [size, size],
+            [0, size],
+        ],
+        dtype=np.float32,
+    )
+    mesh = trimesh.Trimesh(verts, faces, process=False)
     mesh.vertices[:, 2] -= thickness / 2
     mesh.vertices = gu.transform_by_R(mesh.vertices, gu.z_up_to_R(np.asarray(normal, dtype=np.float32)))
     if color is None:  # use checkerboard texture
         mesh.visual = trimesh.visual.TextureVisuals(
-            uv=np.array(
-                [
-                    [0, 0],
-                    [0, 0],
-                    [0, size],
-                    [0, size],
-                    [size, 0],
-                    [size, 0],
-                    [size, size],
-                    [size, size],
-                ],
-                dtype=np.float32,
-            ),
+            uv=uv,
             material=trimesh.visual.material.SimpleMaterial(
                 image=Image.open(os.path.join(get_assets_dir(), "textures/checker.png")),
             ),

genesis/vis/rasterizer_context.py

@@ -296,9 +296,7 @@ def on_rigid(self):
                             mesh=mesh,
                             poses=geom_T,
                             smooth=geom.surface.smooth if "collision" not in rigid_entity.surface.vis_mode else False,
-                            double_sided=(
-                                geom.surface.double_sided if "collision" not in rigid_entity.surface.vis_mode else False
-                            ),
+                            double_sided=rigid_entity.morph.double_sided,
                             is_floor=isinstance(rigid_entity._morph, gs.morphs.Plane),
                             env_shared=not self.env_separate_rigid,
                         )