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Disable convex hull visualization for visual geoms.

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This additional check in engine_vis_visualize is necessary for meshes that are shared between visual and colliding geoms.

PiperOrigin-RevId: 556786969
Change-Id: I8270d3f2c0ce497c79b24b282f2f15ece44a423b
This commit is contained in:
Alessio Quaglino
2023-08-14 07:44:56 -07:00
committed by Copybara-Service
parent a276c49c30
commit 8ddef7007f
1 changed files with 2 additions and 1 deletions
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src/engine/engine_vis_visualize.c
+2 -1
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@@ -1154,7 +1154,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
// mesh: 2*i is original, 2*i+1 is convex hull
if (m->geom_type[i] == mjGEOM_MESH) {
thisgeom->dataid *= 2;
if (m->mesh_graphadr[m->geom_dataid[i]] >= 0 && vopt->flags[mjVIS_CONVEXHULL]) {
if (m->mesh_graphadr[m->geom_dataid[i]] >= 0 && vopt->flags[mjVIS_CONVEXHULL] &&
(m->geom_contype[i] || m->geom_conaffinity[i])) {
thisgeom->dataid += 1;
}
}