From 585be6cee5723712158dfd388b8361ea118757c1 Mon Sep 17 00:00:00 2001
From: Matija Kecman <matijak@google.com>
Date: Thu, 21 May 2026 09:41:29 -0700
Subject: [PATCH] Fix wireframe rendering

PiperOrigin-RevId: 919100432
Change-Id: I2931d793ab9639bdaaad11f6d77a77aa14e43b8a
---
 src/experimental/platform/hal/renderer.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/experimental/platform/hal/renderer.cc b/src/experimental/platform/hal/renderer.cc
index bcb44c19..591965dd 100644
--- a/src/experimental/platform/hal/renderer.cc
+++ b/src/experimental/platform/hal/renderer.cc
@@ -232,6 +232,8 @@ void Renderer::DoRender(int width, int height) {
         draw_mode = mjDRAW_MODE_SEGMENTATION;
       } else if (scene_.flags[mjRND_DEPTH]) {
         draw_mode = mjDRAW_MODE_DEPTH;
+      } else if (scene_.flags[mjRND_WIREFRAME]) {
+        draw_mode = mjDRAW_MODE_WIREFRAME;
       }
 
       mjrRenderRequest reqs[2];
@@ -285,6 +287,8 @@ void Renderer::DoReadPixels(int width, int height, unsigned char* rgb) {
       draw_mode = mjDRAW_MODE_SEGMENTATION;
     } else if (scene_.flags[mjRND_DEPTH]) {
       draw_mode = mjDRAW_MODE_DEPTH;
+    } else if (scene_.flags[mjRND_WIREFRAME]) {
+      draw_mode = mjDRAW_MODE_WIREFRAME;
     }
 
     mjrRenderTargetConfig config;