disable clip control but set projection matrix as if clip control is on

Author: aftersomemath

src/render/glad/glad.c

@@ -1428,7 +1428,7 @@ static void mjGlad_load_GL_KHR_debug(GLADloadproc load) {
 }
 static int mjGlad_find_extensionsGL(void) {
   if (!mjGlad_get_exts()) return 0;
-  mjGLAD_GL_ARB_clip_control = mjGlad_has_ext("GL_ARB_clip_control");
+  //mjGLAD_GL_ARB_clip_control = mjGlad_has_ext("GL_ARB_clip_control");
   mjGLAD_GL_ARB_depth_buffer_float = mjGlad_has_ext("GL_ARB_depth_buffer_float");
   mjGLAD_GL_ARB_framebuffer_object = mjGlad_has_ext("GL_ARB_framebuffer_object");
   mjGLAD_GL_ARB_seamless_cube_map = mjGlad_has_ext("GL_ARB_seamless_cube_map");

src/render/render_context.c

@@ -1055,7 +1055,7 @@ static void makeShadow(const mjModel* m, mjrContext* con) {
   glActiveTexture(GL_TEXTURE1);
   glEnable(GL_TEXTURE_2D);
   glBindTexture(GL_TEXTURE_2D, con->shadowTex);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT,
+  glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT32F,
                con->shadowSize, con->shadowSize, 0, GL_DEPTH_COMPONENT, GL_FLOAT, NULL);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
   glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);

src/render/render_gl3.c

@@ -724,7 +724,9 @@ static void setView(int view, mjrRect viewport, const mjvScene* scn, const mjrCo
     glScalef(1.0f, 1.0f, -0.5f);
   } else {
     // reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
-    glScalef(1.0f, 1.0f, -1.0f);
+    // glScalef(1.0f, 1.0f, -1.0f);
+    glTranslatef(0.0f, 0.0f, 0.5f);
+    glScalef(1.0f, 1.0f, -0.5f);
   }
 
   // set projection, orthographic or perspective
@@ -1181,7 +1183,9 @@ void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
           }
           else {
             // reverse Z rendering mapping without shift [znear, zfar] -> [1, -1] (ndc)
-            glScalef(1.0f, 1.0f, -1.0f);
+            // glScalef(1.0f, 1.0f, -1.0f);
+            glTranslatef(0.0f, 0.0f, 0.5f);
+            glScalef(1.0f, 1.0f, -0.5f);
           }
           if (thislight->directional) {
             glOrtho(-con->shadowClip, con->shadowClip,