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

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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
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src/xml/generated/mjcf.xsd
+1 -1
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@@ -1193,7 +1193,7 @@
</xs:simpleType>
</xs:attribute>
<xs:attribute name="ellipsoidinertia" type="kw_bool" default="false"/>
<xs:attribute name="bvactive" type="kw_bool" default="true"/>
<xs:attribute name="bvactive" type="kw_bool" default="false"/>
</xs:complexType>
<xs:complexType name="quality">