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

PiperOrigin-RevId: 598598250 Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
2024-01-15 06:38:11 -08:00
parent acf698e2df
commit 1e2e0b3053
11 changed files with 557 additions and 65 deletions
@@ -3019,12 +3019,6 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
      mjCGeom* pgeom = pbody->AddGeom(def);
      OneGeom(elem, pgeom);
      pgeom->SetFrame(frame);
-
-      // discard visual
-      if (!pgeom->contype && !pgeom->conaffinity && model->discardvisual) {
-        delete pbody->geoms.back();
-        pbody->geoms.pop_back();
-      }
    }

    // site sub-element