From 7baaa398469f4488b148dc0bd8cee22962ce9f91 Mon Sep 17 00:00:00 2001 From: Alessio Quaglino Date: Mon, 4 Aug 2025 03:52:37 -0700 Subject: [PATCH] Add SDF geom to test/testdata/model.xml. Also, when a mesh has both an octree and a bvh, render only the octree. PiperOrigin-RevId: 790680831 Change-Id: Iaf3896933f6728af4db1eaa83ff5b06558ab0d19 --- src/engine/engine_vis_visualize.c | 4 ++-- test/testdata/model.xml | 3 +++ 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c index b8a479f2..5a466c7d 100644 --- a/src/engine/engine_vis_visualize.c +++ b/src/engine/engine_vis_visualize.c @@ -764,7 +764,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, for (int geomid = 0; geomid < m->ngeom; geomid++) { int meshid = m->geom_dataid[geomid]; // skip if not a mesh or if there is an octree - if (m->geom_type[geomid] == mjGEOM_SDF || meshid == -1 || m->mesh_octadr[meshid] >= 0) { + if (meshid == -1 || m->geom_type[geomid] == mjGEOM_SDF || m->mesh_octadr[meshid] >= 0) { continue; } @@ -813,7 +813,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, if (vopt->flags[mjVIS_MESHBVH]) { for (int geomid = 0; geomid < m->ngeom; geomid++) { int meshid = m->geom_dataid[geomid]; - if (meshid == -1 || (m->geom_type[geomid] == mjGEOM_MESH && m->mesh_octadr[meshid] == -1)) { + if (meshid == -1 || m->geom_type[geomid] == mjGEOM_HFIELD || m->mesh_octadr[meshid] == -1) { continue; } diff --git a/test/testdata/model.xml b/test/testdata/model.xml index ce7ea048..82bc2906 100644 --- a/test/testdata/model.xml +++ b/test/testdata/model.xml @@ -116,6 +116,9 @@ + + +