chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Move BVH active visualization flag reset after early return check in MuJoCo collision driver.

Browse Source 
This avoids unnecessarily resetting the bvh_active flags when the collision driver returns early due to disabled constraints, disabled contacts, or having fewer than two bodies/flexes.

PiperOrigin-RevId: 959531283
Change-Id: I85caf054b06e3be1018d710f9ab762627fc3356a
This commit is contained in:
Alessio Quaglino
2026-08-05 02:41:02 -07:00
committed by Copybara-Service
parent f9a00bd5b5
commit 1362a8bded
9 changed files with 20 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+3 -3
View File
@@ -9321,10 +9321,10 @@ is effectively a miscellaneous subsection.
.. _visual-global-bvactive:
:at:`bvactive`: :at-val:`[false, true], "true"`
:at:`bvactive`: :at-val:`[false, true], "false"`
This attribute specifies whether collision and raycasting code should mark elements of Bounding Volume Hierarchies
as intersecting, for the purpose of visualization. Setting this attribute to "false" can speed up simulation for
models with high-resolution meshes.
as intersecting, for the purpose of visualization. Setting this attribute to "true" can slow down simulation for
models with high-resolution meshes, due to the O(N) cost of clearing visualization flags at each step.
.. _visual-quality: