Remove all visual-only assets if discardvisual is selected, not only the geoms.

PiperOrigin-RevId: 598598250
Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8

src/user/user_model.h

@@ -96,6 +96,14 @@ class mjCModel {
   mjCKey*      AddKey(void);                           // keyframe
   mjCPlugin*   AddPlugin(void);                        // plugin instance
 
+  //------------------------ API for deleting model elements
+  template <class T>
+  void Delete(std::vector<T*>& elements,
+              const std::vector<bool>& discard);       // delete elements marked as discard=true
+
+  template <class T>
+  void DeleteAll(std::vector<T*>& elements);           // delete all elements
+
   //------------------------ API for access to model elements (outside tree)
   int         NumObjects(mjtObj type);                // number of objects in specified list
   mjCBase*    GetObject(mjtObj type, int id);         // pointer to specified object
@@ -185,16 +193,16 @@ class mjCModel {
   void SetDefaultNames(std::vector<T*>& assets);
 
   //------------------------ compile phases
-  void MakeLists(mjCBody* body);  // make lists of bodies, geoms, joints, sites
-  void IndexAssets(void);         // convert asset names into indices
-  void CheckEmptyNames(void);     // check empty names
-  void SetSizes(void);            // compute sizes
-  void AutoSpringDamper(mjModel*);// automatic stiffness and damping computation
-  void LengthRange(mjModel*, mjData*); // compute actuator lengthrange
-  void CopyNames(mjModel*);       // copy names, compute name addresses
-  void CopyPaths(mjModel*);       // copy paths, compute path addresses
-  void CopyObjects(mjModel*);     // copy objects outside kinematic tree
-  void CopyTree(mjModel*);        // copy objects inside kinematic tree
+  void MakeLists(mjCBody* body);        // make lists of bodies, geoms, joints, sites
+  void IndexAssets(bool discard);       // convert asset names into indices
+  void CheckEmptyNames(void);           // check empty names
+  void SetSizes(void);                  // compute sizes
+  void AutoSpringDamper(mjModel*);      // automatic stiffness and damping computation
+  void LengthRange(mjModel*, mjData*);  // compute actuator lengthrange
+  void CopyNames(mjModel*);             // copy names, compute name addresses
+  void CopyPaths(mjModel*);             // copy paths, compute path addresses
+  void CopyObjects(mjModel*);           // copy objects outside kinematic tree
+  void CopyTree(mjModel*);              // copy objects inside kinematic tree
 
   //------------------------ sizes
   // sizes set from object list lengths