From 730ecceda1f66337a302ad10dcaea4d8a24c41ce Mon Sep 17 00:00:00 2001
From: Haroon Qureshi <haroonq@google.com>
Date: Thu, 7 May 2026 09:36:44 -0700
Subject: [PATCH] Add SDF support.

PiperOrigin-RevId: 912007379
Change-Id: I89ebf6bbabca08656932d028b27f1fbe48178986
---
 src/experimental/filament/compat/scene_geom_util.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/experimental/filament/compat/scene_geom_util.cc b/src/experimental/filament/compat/scene_geom_util.cc
index e66a8630..9a733a29 100644
--- a/src/experimental/filament/compat/scene_geom_util.cc
+++ b/src/experimental/filament/compat/scene_geom_util.cc
@@ -83,6 +83,7 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
 
   switch ((mjtGeom)geom.type) {
     case mjGEOM_MESH:
+    case mjGEOM_SDF:
       mjrf_setRenderableMesh(renderable, GetMesh(model_objects, geom.dataid), 0, 0);
       // Ignore size for meshes.
       size[0] = 1.f;
@@ -168,7 +169,6 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
     case mjGEOM_LABEL:
       // Do nothing.
       break;
-    case mjGEOM_SDF:
     case mjNGEOMTYPES:
       mju_warning("Unsupported geom type: %d", geom.type);
       break;