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Add SDF geom to test/testdata/model.xml.

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Also, when a mesh has both an octree and a bvh, render only the octree.

PiperOrigin-RevId: 790680831
Change-Id: Iaf3896933f6728af4db1eaa83ff5b06558ab0d19
This commit is contained in:
Alessio Quaglino
2025-08-04 03:52:37 -07:00
committed by Copybara-Service
parent 100b1a06fd
commit 7baaa39846
2 changed files with 5 additions and 2 deletions
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src/engine/engine_vis_visualize.c
+2 -2
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@@ -764,7 +764,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
for (int geomid = 0; geomid < m->ngeom; geomid++) { for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[geomid]; int meshid = m->geom_dataid[geomid];
// skip if not a mesh or if there is an octree // 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; continue;
} }
@@ -813,7 +813,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->flags[mjVIS_MESHBVH]) { if (vopt->flags[mjVIS_MESHBVH]) {
for (int geomid = 0; geomid < m->ngeom; geomid++) { for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[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; continue;
} }
test/testdata/model.xml
Vendored
+3
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@@ -116,6 +116,9 @@
<geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/> <geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/>
<geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/> <geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/>
</body> </body>
<body pos="-.2 .3 .8">
<geom type="sdf" mesh="icosahedron" size=".1" rgba="0 0 1 1"/>
</body>
</worldbody> </worldbody>
<equality> <equality>