Remove redundant checks for exhausted geoms.

PiperOrigin-RevId: 813284297
Change-Id: I565c517bef782ba07ff323e206b75f6f905e5809

src/engine/engine_vis_visualize.c

@@ -852,7 +852,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   if (vopt->flags[mjVIS_BODYBVH]) {
     for (int i = 0; i < m->nbvhstatic; i++) {
       int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
-      if (scn->ngeom >= scn->maxgeom) break;
       if (m->bvh_depth[i] != vopt->bvh_depth) {
         if (!isleaf || m->bvh_depth[i] > vopt->bvh_depth) {
           continue;
@@ -909,7 +908,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       if (m->flex_bvhnum[f] && vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[f]))]) {
         for (int i=m->flex_bvhadr[f]; i < m->flex_bvhadr[f]+m->flex_bvhnum[f]; i++) {
           int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
-          if (scn->ngeom >= scn->maxgeom) break;
           if (m->bvh_depth[i] != vopt->bvh_depth) {
             if (!isleaf || m->bvh_depth[i] > vopt->bvh_depth) {
               continue;
@@ -956,7 +954,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       for (int i=0; i < 2; i++) {
         for (int j=0; j < 2; j++) {
           for (int k=0; k < 2; k++) {
-            if (scn->ngeom >= scn->maxgeom) break;
             if (i == 0) {
               if (geomsExhausted(scn)) {
                 return;
@@ -1004,7 +1001,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       for (int b = 0; b < m->mesh_bvhnum[meshid]; b++) {
         int i = b + m->mesh_bvhadr[meshid];
         int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
-        if (scn->ngeom >= scn->maxgeom) break;
         if (m->bvh_depth[i] != vopt->bvh_depth) {
           if (!isleaf || m->bvh_depth[i] > vopt->bvh_depth) {
             continue;
@@ -1120,7 +1116,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
         for (int i=0; i < m->mesh_facenum[mesh_id]; i++) {
           if (geomsExhausted(scn)) {
             return;
-          } else {
+          }
+
           // triangle in global frame
           mjtNum pos[3][3];
           for (int j = 0; j < 3; j++) {
@@ -1160,7 +1157,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       }
     }
   }
-  }
 
   // inertia
   objtype = mjOBJ_BODY;
@@ -2044,37 +2040,36 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           if (geomsExhausted(scn)) {
             return;
           }
-
           thisgeom = acquireGeom(scn, i, category, objtype);
           makeTriangle(thisgeom, vnear[e], vfar[e], vnear[(e+1)%4], rgba);
           releaseGeom(&thisgeom, scn);
+
           if (geomsExhausted(scn)) {
             return;
           }
-
           thisgeom = acquireGeom(scn, i, category, objtype);
           makeTriangle(thisgeom, vfar[e], vfar[(e+1)%4], vnear[(e+1)%4], rgba);
           releaseGeom(&thisgeom, scn);
+
           if (geomsExhausted(scn)) {
             return;
           }
-
           thisgeom = acquireGeom(scn, i, category, objtype);
           mjv_connector(thisgeom, mjGEOM_LINE, 3, vnear[e], vnear[(e+1)%4]);
           f2f(thisgeom->rgba, rgba, 4);
           releaseGeom(&thisgeom, scn);
+
           if (geomsExhausted(scn)) {
             return;
           }
-
           thisgeom = acquireGeom(scn, i, category, objtype);
           mjv_connector(thisgeom, mjGEOM_LINE, 3, vfar[e], vfar[(e+1)%4]);
           f2f(thisgeom->rgba, rgba, 4);
           releaseGeom(&thisgeom, scn);
+
           if (geomsExhausted(scn)) {
             return;
           }
-
           thisgeom = acquireGeom(scn, i, category, objtype);
           mjv_connector(thisgeom, mjGEOM_LINE, 3, vnear[e], vfar[e]);
           f2f(thisgeom->rgba, rgba, 4);
@@ -3364,7 +3359,7 @@ static const mjtNum tolerance = 1e-9;
 
 
 
-// solve trancendental catenary equation using change of variables proposed in
+// solve transcendental catenary equation using change of variables proposed in
 //   https://math.stackexchange.com/a/1002996
 static inline mjtNum solve_catenary(mjtNum v, mjtNum h, mjtNum length) {
   mjtNum intercept = catenary_intercept(v, h, length);