Merge branch 'fix-gl-text-rendering' into 'main'

Fix text rendering in OpenGLRenderer (GH-704)

See merge request omniverse/warp!1290

Author: eric-heiden

CHANGELOG.md

@@ -58,6 +58,7 @@
   ([GH-688](https://github.com/NVIDIA/warp/issues/688)).
 - Fixed inconsistency in orientation of 2D geometry side normals ([GH-629](https://github.com/NVIDIA/warp/issues/629)).
 - Fixed `wp.svd2()` with duplicate singular values and improved accuracy ([GH-679](https://github.com/NVIDIA/warp/issues/679)).
+- Fix text rendering in OpenGLRenderer ([GH-704](https://github.com/NVIDIA/warp/issues/629)).
 
 ## [1.7.1] - 2025-04-30
 

warp/render/render_opengl.py

@@ -1990,6 +1990,10 @@ def _draw(self):
             gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
             gl.glEnable(gl.GL_BLEND)
 
+            # disable depth test to fix text rendering
+            # https://github.com/pyglet/pyglet/issues/1302
+            gl.glDisable(gl.GL_DEPTH_TEST)
+
             text = f"""Sim Time: {self.time:.1f}
 Update FPS: {self._fps_update:.1f}
 Render FPS: {self._fps_render:.1f}
@@ -2003,6 +2007,8 @@ def _draw(self):
             self._info_label.y = self.screen_height - 5
             self._info_label.draw()
 
+            gl.glEnable(gl.GL_DEPTH_TEST)
+
         for cb in self.render_2d_callbacks:
             cb()