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

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
2026-08-05 02:41:02 -07:00
parent f9a00bd5b5
commit 1362a8bded
9 changed files with 20 additions and 13 deletions
@@ -14,7 +14,7 @@
    <map force="0.1" zfar="30"/>
    <rgba haze="0.15 0.25 0.35 1"/>
    <quality shadowsize="4096"/>
-    <global offwidth="800" offheight="800"/>
+    <global offwidth="800" offheight="800" bvactive="true"/>
  </visual>

  <worldbody>