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Disable shadows for geoms of category mjCAT_DECOR. Fixes #1114.

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Added `frustum` to `rgba` and `scale` in the `visual` section.

PiperOrigin-RevId: 576547599
Change-Id: I69bf528680e3d4a59d6e04f6db99a6d345001d1d
This commit is contained in:
Alessio Quaglino
2023-10-25 09:07:22 -07:00
committed by Copybara-Service
parent 5231a335bf
commit 1a47a97040
14 changed files with 61 additions and 15 deletions
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src/xml/xml_native_writer.cc
+2
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@@ -1082,6 +1082,7 @@ void mjXWriter::Visual(XMLElement* root) {
WriteAttr(elem, "framewidth", 1, &vis->scale.framewidth, &visdef.scale.framewidth);
WriteAttr(elem, "constraint", 1, &vis->scale.constraint, &visdef.scale.constraint);
WriteAttr(elem, "slidercrank", 1, &vis->scale.slidercrank, &visdef.scale.slidercrank);
WriteAttr(elem, "frustum", 1, &vis->scale.frustum, &visdef.scale.frustum);
if (!elem->FirstAttribute()) {
section->DeleteChild(elem);
}
@@ -1110,6 +1111,7 @@ void mjXWriter::Visual(XMLElement* root) {
WriteAttr(elem, "constraint", 4, vis->rgba.constraint, visdef.rgba.constraint);
WriteAttr(elem, "slidercrank", 4, vis->rgba.slidercrank, visdef.rgba.slidercrank);
WriteAttr(elem, "crankbroken", 4, vis->rgba.crankbroken, visdef.rgba.crankbroken);
WriteAttr(elem, "frustum", 4, vis->rgba.frustum, visdef.rgba.frustum);
if (!elem->FirstAttribute()) {
section->DeleteChild(elem);
}