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
@@ -26,6 +26,10 @@
    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
  </asset>

+  <visual>
+    <global bvactive="true"/>
+  </visual>
+
  <default>
    <site rgba=".5 .5 .5 .5"/>
    <joint armature="1" damping="10"/>