Add equivalent inertia ellipsoid visualization.

PiperOrigin-RevId: 519154067 Change-Id: I35f1993c1493df9be752b7163385004649498070
2023-03-24 08:46:58 -07:00
parent 2a471d1e11
commit 3f14d97f6b
13 changed files with 60 additions and 17 deletions
@@ -432,6 +432,7 @@ struct mjVisual_ {                // visualization options
    int offwidth;                 // width of offscreen buffer
    int offheight;                // height of offscreen buffer
    int treedepth;                // depth of the bounding volume hierarchy
+    int ellipsoidinertia;         // geom for inertia visualization (0: box, 1: ellipsoid)
  } global;

  struct {                        // rendering quality