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Remove redundant ngeoms check.

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PiperOrigin-RevId: 810787607
Change-Id: I5d04b1d7f5f8ad758960a46ff08cc47d2887e851
This commit is contained in:
Haroon Qureshi
2025-09-24 02:20:19 -07:00
committed by Copybara-Service
parent d9650b68b0
commit 0baac58999
1 changed files with 1 additions and 6 deletions
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src/engine/engine_vis_visualize.c
+1 -6
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@@ -1118,8 +1118,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
float* mesh_vert = m->mesh_vert + 3*m->mesh_vertadr[mesh_id]; float* mesh_vert = m->mesh_vert + 3*m->mesh_vertadr[mesh_id];
int* face = m->mesh_face + 3*m->mesh_faceadr[mesh_id]; int* face = m->mesh_face + 3*m->mesh_faceadr[mesh_id];
for (int i=0; i < m->mesh_facenum[mesh_id]; i++) { for (int i=0; i < m->mesh_facenum[mesh_id]; i++) {
if (scn->ngeom >= scn->maxgeom) { if (geomsExhausted(d, scn)) {
mj_warning(d, mjWARN_VGEOMFULL, scn->maxgeom);
return; return;
} else { } else {
// triangle in global frame // triangle in global frame
@@ -1153,10 +1152,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
} }
// draw triangles, one per side // draw triangles, one per side
if (geomsExhausted(d, scn)) {
return;
}
thisgeom = acquireGeom(scn, i, category, objtype); thisgeom = acquireGeom(scn, i, category, objtype);
makeTriangle(thisgeom, pos[0], pos[1], pos[2], rgba); makeTriangle(thisgeom, pos[0], pos[1], pos[2], rgba);
thisgeom->objid = id; thisgeom->objid = id;