From 964e7848bacc3a031d4eea0f626aea1ce28cc65a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 16 Aug 2024 14:40:30 -0700
Subject: [PATCH] make anisotropic_filtering configurable

---
 metadrive/component/block/base_block.py | 2 +-
 metadrive/engine/core/engine_core.py    | 2 +-
 metadrive/engine/core/sky_box.py        | 4 ++--
 metadrive/engine/core/terrain.py        | 7 ++++---
 metadrive/envs/base_env.py              | 2 ++
 5 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/metadrive/component/block/base_block.py b/metadrive/component/block/base_block.py
index 73fc36c5f..0bcac15fb 100644
--- a/metadrive/component/block/base_block.py
+++ b/metadrive/component/block/base_block.py
@@ -79,7 +79,7 @@ def __init__(
             self.side_texture.setWrapU(Texture.WM_repeat)
             self.side_texture.setWrapV(Texture.WM_repeat)
             self.side_texture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
-            self.side_texture.setAnisotropicDegree(8)
+            self.side_texture.setAnisotropicDegree(8 if self.engine.global_config["anisotropic_filtering"] else 1)
             self.side_normal = self.loader.loadTexture(AssetLoader.file_path("textures", "sidewalk", "normal.png"))
             # self.side_normal.set_format(Texture.F_srgb)
             self.side_normal.setWrapU(Texture.WM_repeat)
diff --git a/metadrive/engine/core/engine_core.py b/metadrive/engine/core/engine_core.py
index cdd529939..aad6fd4b9 100644
--- a/metadrive/engine/core/engine_core.py
+++ b/metadrive/engine/core/engine_core.py
@@ -301,7 +301,7 @@ def __init__(self, global_config):
                     use_330=False
                 )
 
-                self.sky_box = SkyBox(not self.global_config["show_skybox"])
+                self.sky_box = SkyBox(not self.global_config["show_skybox"], self.global_config["anisotropic_filtering"])
                 self.sky_box.attach_to_world(self.render, self.physics_world)
 
                 self.world_light = Light()
diff --git a/metadrive/engine/core/sky_box.py b/metadrive/engine/core/sky_box.py
index 99b0d970f..1155e7e62 100644
--- a/metadrive/engine/core/sky_box.py
+++ b/metadrive/engine/core/sky_box.py
@@ -13,7 +13,7 @@ class SkyBox(BaseObject):
     ROTATION_MAX = 5000
     SEMANTIC_LABEL = Semantics.SKY.label
 
-    def __init__(self, pure_background: bool = False):
+    def __init__(self, pure_background: bool = False, use_anisotropic_filtering: bool = True):
         super(SkyBox, self).__init__(random_seed=0)
         self._accumulate = 0
         self.f = 1
@@ -30,7 +30,7 @@ def __init__(self, pure_background: bool = False):
         skybox_texture.set_magfilter(SamplerState.FT_linear)
         skybox_texture.set_wrap_u(SamplerState.WM_repeat)
         skybox_texture.set_wrap_v(SamplerState.WM_mirror)
-        skybox_texture.set_anisotropic_degree(16)
+        skybox_texture.set_anisotropic_degree(16 if use_anisotropic_filtering else 1)
         skybox.set_texture(skybox_texture)
 
         gles = ConfigVariableString("load-display").getValue()
diff --git a/metadrive/engine/core/terrain.py b/metadrive/engine/core/terrain.py
index 9f1c67658..12094b52b 100644
--- a/metadrive/engine/core/terrain.py
+++ b/metadrive/engine/core/terrain.py
@@ -73,12 +73,14 @@ def __init__(self, show_terrain, engine):
 
         self.render = self.render and show_terrain
 
+        self.use_anisotropic_filtering = engine.global_config["anisotropic_filtering"]
+
         if self.use_mesh_terrain or self.render:
             self._load_height_field_image(engine)
 
         if self.render:
             # if engine.use_render_pipeline:
-            self._load_mesh_terrain_textures(engine)
+            self._load_mesh_terrain_textures(engine, anisotropic_degree= 16 if self.use_anisotropic_filtering else 1)
             self._mesh_terrain_node = ShaderTerrainMesh()
             # prepare semantic texture
             semantic_size = self._semantic_map_size * self._semantic_map_pixel_per_meter
@@ -385,7 +387,7 @@ def _generate_card_terrain(self):
         card.setTexture(self.ts_color, self.terrain_texture)
         # card.setTexture(self.ts_normal, self.terrain_normal)
         self.terrain_texture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
-        self.terrain_texture.setAnisotropicDegree(8)
+        self.terrain_texture.setAnisotropicDegree(8 if self.use_anisotropic_filtering else 1)
         card.setQuat(LQuaternionf(math.cos(-math.pi / 4), math.sin(-math.pi / 4), 0, 0))
 
     def _load_height_field_image(self, engine):
@@ -490,7 +492,6 @@ def _load_mesh_terrain_textures(self, engine, anisotropic_degree=16, filter_type
         v_wrap = Texture.WMRepeat
         u_warp = Texture.WMMirror
         filter_type = Texture.FTLinearMipmapLinear
-        anisotropic_degree = 16
         for tex in [self.road_texture_rough, self.road_texture, self.road_texture_normal]:
             tex.set_wrap_u(u_warp)
             tex.set_wrap_v(v_wrap)
diff --git a/metadrive/envs/base_env.py b/metadrive/envs/base_env.py
index 8846238d9..11acc42b5 100644
--- a/metadrive/envs/base_env.py
+++ b/metadrive/envs/base_env.py
@@ -209,6 +209,8 @@
     preload_models=True,
     # model compression increasing the launch time
     disable_model_compression=True,
+    # Whether to use anisotropic filtering. Very expensive option.
+    anisotropic_filtering=True,
 
     # ===== Terrain =====
     # The size of the square map region, which is centered at [0, 0]. The map objects outside it are culled.