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Pass mjvOption to plugin visualize callback.

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PiperOrigin-RevId: 526047180
Change-Id: Ia63f02184f5c6a7e3b588298639fa0ab4a6da649
This commit is contained in:
Yuval Tassa
2023-04-21 08:43:36 -07:00
committed by Copybara-Service
parent 94779a722a
commit a2a1ac9fc2
11 changed files with 27 additions and 17 deletions
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simulate/simulate.cc
+2 -2
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@@ -1798,7 +1798,7 @@ void Simulate::Sync() {
if (fully_managed_) {
mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjv_updateSceneState(m_, d_, &scnstate_);
mjv_updateSceneState(m_, d_, &this->opt, &scnstate_);
mjopt_prev_ = scnstate_.model.opt;
warn_vgeomfull_prev_ = scnstate_.data.warning[mjWARN_VGEOMFULL].number;
}
@@ -1956,7 +1956,7 @@ void Simulate::LoadOnRenderThread() {
mjv_updateScene(this->mnew_, this->dnew_,
&this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjv_updateSceneState(this->mnew_, this->dnew_, &this->scnstate_);
mjv_updateSceneState(this->mnew_, this->dnew_, &this->opt, &this->scnstate_);
}
// set window title to model name