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Separate out site and geom frame construction.

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PiperOrigin-RevId: 814677737
Change-Id: I623f9d1e23ac6b3076a577e97911f7ec73492f52
This commit is contained in:
Haroon Qureshi
2025-10-03 06:55:58 -07:00
committed by Copybara-Service
parent 9f796c3e70
commit 24679b47e4
1 changed files with 62 additions and 27 deletions
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src/engine/engine_vis_visualize.c
+62 -27
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@@ -831,6 +831,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
// geom
// category is determined on a per-geom basis
objtype = mjOBJ_GEOM;
int planeid = -1;
for (int i=0; i < m->ngeom; i++) {
// count planes, put current plane number in geom->dataid
@@ -839,7 +841,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
// set type and category: geom
objtype = mjOBJ_GEOM;
category = bodycategory(m, m->geom_bodyid[i]);
// skip if category is masked
@@ -963,26 +964,14 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
releaseGeom(&thisgeom, scn);
// set type and category: frame
objtype = mjOBJ_UNKNOWN;
category = mjCAT_DECOR;
if (!(category & catmask) || vopt->frame != mjFRAME_GEOM) {
continue;
}
// construct geom frame
objtype = mjOBJ_UNKNOWN;
sz[0] = m->vis.scale.framewidth * scl;
sz[1] = m->vis.scale.framelength * scl;
addFrame(scn, i, d->geom_xpos+3*i, d->geom_xmat+9*i, sz[1], sz[0]);
}
}
// site
// category is determined on a per-site basis
objtype = mjOBJ_SITE;
for (int i=0; i < m->nsite; i++) {
// set type and category
objtype = mjOBJ_SITE;
category = bodycategory(m, m->site_bodyid[i]);
// skip if category is masked
@@ -1020,18 +1009,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
releaseGeom(&thisgeom, scn);
// set category for site frame
category = mjCAT_DECOR;
if (!(category & catmask) || vopt->frame != mjFRAME_SITE) {
continue;
}
// construct site frame
objtype = mjOBJ_UNKNOWN;
sz[0] = m->vis.scale.framewidth * scl;
sz[1] = m->vis.scale.framelength * scl;
addFrame(scn, i, d->site_xpos+3*i, d->site_xmat+9*i, sz[1], sz[0]);
}
}
@@ -1253,6 +1230,64 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
}
// -- decor elements --
// geom frames
category = mjCAT_DECOR;
objtype = mjOBJ_GEOM;
if ((category & catmask) && vopt->frame == mjFRAME_GEOM) {
for (int i=0; i < m->ngeom; i++) {
if (!(bodycategory(m, m->geom_bodyid[i]) & catmask)) {
continue;
}
if (!vopt->geomgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->geom_group[i]))]) {
continue;
}
// base element is invisible; don't show decors
int matid = m->geom_matid[i];
float* rgba = (matid >= 0) ? (m->mat_rgba + 4*matid) : (m->geom_rgba + 4*i);
if (rgba[3] == 0) {
continue;
}
// construct geom frame
sz[0] = m->vis.scale.framewidth * scl;
sz[1] = m->vis.scale.framelength * scl;
addFrame(scn, i, d->geom_xpos+3*i, d->geom_xmat+9*i, sz[1], sz[0]);
}
}
// site frames
category = mjCAT_DECOR;
objtype = mjOBJ_SITE;
if ((category & catmask) && vopt->frame == mjFRAME_SITE) {
for (int i=0; i < m->nsite; i++) {
// skip if category is masked
if (!(bodycategory(m, m->site_bodyid[i]) & catmask)) {
continue;
}
// show if group enabled
if (!vopt->sitegroup[mjMAX(0, mjMIN(mjNGROUP-1, m->site_group[i]))]) {
continue;
}
// base element is invisible; don't show decors
int matid = m->site_matid[i];
float* rgba = (matid >= 0) ? (m->mat_rgba + 4*matid) : (m->site_rgba + 4*i);
if (rgba[3] == 0) {
continue;
}
// construct site frame
sz[0] = m->vis.scale.framewidth * scl;
sz[1] = m->vis.scale.framelength * scl;
addFrame(scn, i, d->site_xpos+3*i, d->site_xmat+9*i, sz[1], sz[0]);
}
}
// body BVH
category = mjCAT_DECOR;
objtype = mjOBJ_UNKNOWN;