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

Label all bodies, not just selected bodies, when mjLABEL_BODY is set.

Browse Source 
An earlier refactor incorrectly assumed that only selected bodies needed
labels.

PiperOrigin-RevId: 818568645
Change-Id: I7aea07c5342673dd589e1891d0db1f2b0c489fe4
This commit is contained in:
Haroon Qureshi
2025-10-13 02:53:36 -07:00
committed by Copybara-Service
parent d9399d6f84
commit 66a1c22cae
1 changed files with 20 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_vis_visualize.c
+20 -18
View File
@@ -1827,31 +1827,33 @@ static void addSelectionPointGeoms(const mjModel* m, mjData* d, const mjvOption*
}
static void addSelectionBodyLabelGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
const mjvPerturb* pert, int catmask, mjvScene* scn) {
static void addBodyLabelGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
const mjvPerturb* pert, int catmask, mjvScene* scn) {
if (vopt->flags[mjVIS_INERTIA]) {
return;
}
if (vopt->label != mjLABEL_SELECTION && vopt->label != mjLABEL_BODY) {
return;
}
if (pert->select <= 0 || pert->select >= m->nbody) {
return;
}
if (bodycategory(m, pert->select) & ~catmask) {
return;
}
for (int i=1; i < m->nbody; i++) {
if (vopt->label == mjLABEL_SELECTION && pert->select != i) {
continue;
}
if (bodycategory(m, i) & ~catmask) {
continue;
}
mjvGeom* thisgeom = acquireGeom(scn, pert->select, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
}
mjvGeom* thisgeom = acquireGeom(scn, i, mjCAT_DECOR, mjOBJ_UNKNOWN);
if (!thisgeom) {
return;
}
thisgeom->type = mjGEOM_LABEL;
mju_n2f(thisgeom->pos, d->xpos+3*pert->select, 3);
mju_n2f(thisgeom->mat, d->xmat+9*pert->select, 9);
makeLabel(m, mjOBJ_BODY, pert->select, thisgeom->label);
releaseGeom(&thisgeom, scn);
thisgeom->type = mjGEOM_LABEL;
mju_n2f(thisgeom->pos, d->xpos+3*i, 3);
mju_n2f(thisgeom->mat, d->xmat+9*i, 9);
makeLabel(m, mjOBJ_BODY, i, thisgeom->label);
releaseGeom(&thisgeom, scn);
}
}
@@ -2640,7 +2642,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
addPerturbGeoms(m, d, vopt, pert, scn);
addWorldBodyFrameGeoms(m, d, vopt, catmask, scn);
addSelectionPointGeoms(m, d, vopt, pert, scn);
addSelectionBodyLabelGeoms(m, d, vopt, pert, catmask, scn);
addBodyLabelGeoms(m, d, vopt, pert, catmask, scn);
addJointGeoms(m, d, vopt, scn);
addActuatorGeoms(m, d, vopt, scn);
addIslandLabelGeoms(m, d, vopt, scn);