chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add visualisation groups to skins.

Browse Source 
PiperOrigin-RevId: 458441645
Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
This commit is contained in:
Alessio Quaglino
2022-07-01 04:56:46 -07:00
committed by Copybara-Service
parent 040deb161f
commit 2d0995b47c
19 changed files with 256 additions and 115 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_composite.cc
+4
View File
@@ -67,6 +67,7 @@ mjCComposite::mjCComposite(void) {
mjuu_setvec(skinrgba, 1, 1, 1, 1);
skininflate = 0;
skinsubgrid = 0;
skingroup = 0;
// clear add flags
for (int i=0; i<mjNCOMPKINDS; i++) {
@@ -1053,6 +1054,7 @@ void mjCComposite::MakeSkin2(mjCModel* model) {
skin->material = skinmaterial;
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = skininflate;
skin->group = skingroup;
// populate mesh: two sides
for (int i=0; i<2; i++) {
@@ -1473,6 +1475,7 @@ void mjCComposite::MakeSkin2Subgrid(mjCModel* model) {
skin->material = skinmaterial;
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = skininflate;
skin->group = skingroup;
// populate mesh: two sides
mjtNum S = spacing/(1+skinsubgrid);
@@ -1643,6 +1646,7 @@ void mjCComposite::MakeSkin3(mjCModel* model) {
skin->material = skinmaterial;
mjuu_copyvec(skin->rgba, skinrgba, 4);
skin->inflate = skininflate;
skin->group = skingroup;
// box
if (type==mjCOMPTYPE_BOX) {