From 8ddef7007faa2f112dd404b7a125226424b984fa Mon Sep 17 00:00:00 2001 From: Alessio Quaglino Date: Mon, 14 Aug 2023 07:44:56 -0700 Subject: [PATCH] Disable convex hull visualization for visual geoms. 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 --- src/engine/engine_vis_visualize.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c index a92d79a4..3d308da6 100644 --- a/src/engine/engine_vis_visualize.c +++ b/src/engine/engine_vis_visualize.c @@ -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; } }