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
@@ -145,6 +145,7 @@ void mj_defaultVisual(mjVisual* vis) {
  vis->global.offheight           = 480;
  vis->global.realtime            = 1.0;
  vis->global.treedepth           = 1;
+  vis->global.ellipsoidinertia    = 0;

  // rendering quality
  vis->quality.shadowsize         = 4096;