From abe88202d04fc06cbf4e2d14831fcdaa7dc6aebe Mon Sep 17 00:00:00 2001 From: Haroon Qureshi Date: Thu, 9 Oct 2025 04:06:20 -0700 Subject: [PATCH] Remove redundant `flags` argument. PiperOrigin-RevId: 817115667 Change-Id: I4e5096206d7c24f5861e1bb9e8049149803dceeb --- src/engine/engine_vis_visualize.c | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c index 6c09fa0a..974c4106 100644 --- a/src/engine/engine_vis_visualize.c +++ b/src/engine/engine_vis_visualize.c @@ -527,9 +527,10 @@ void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjMod //----------------------------- main API functions ------------------------------------------------- // add contact-related geoms in mjvObject -static void addContactGeoms(const mjModel* m, mjData* d, const mjtByte* flags, - const mjvOption* vopt, mjvScene* scn, int catmask) { - if (!flags[mjVIS_CONTACTPOINT] && !flags[mjVIS_CONTACTFORCE] && vopt->frame != mjFRAME_CONTACT) { +static void addContactGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn, + int catmask) { + if (!vopt->flags[mjVIS_CONTACTPOINT] && !vopt->flags[mjVIS_CONTACTFORCE] && + vopt->frame != mjFRAME_CONTACT) { return; } @@ -551,7 +552,7 @@ static void addContactGeoms(const mjModel* m, mjData* d, const mjtByte* flags, mju_transpose(mat, tmp, 3, 3); // contact point - if (flags[mjVIS_CONTACTPOINT]) { + if (vopt->flags[mjVIS_CONTACTPOINT]) { thisgeom = acquireGeom(scn, i, category, objtype); if (!thisgeom) { return; @@ -646,7 +647,7 @@ static void addContactGeoms(const mjModel* m, mjData* d, const mjtByte* flags, mj_contactForce(m, d, i, confrc); // contact force - if (flags[mjVIS_CONTACTFORCE]) { + if (vopt->flags[mjVIS_CONTACTFORCE]) { // get force, fill zeros if only normal mju_zero3(frc); mju_copy(frc, confrc, mjMIN(3, con->dim)); @@ -655,7 +656,7 @@ static void addContactGeoms(const mjModel* m, mjData* d, const mjtByte* flags, } // render combined or split - split = (flags[mjVIS_CONTACTSPLIT] && con->dim > 1); + split = (vopt->flags[mjVIS_CONTACTSPLIT] && con->dim > 1); for (int j = (split ? 1 : 0); j < (split ? 3 : 1); j++) { // set vec to combined, normal or friction force, in world frame switch (j) { @@ -2650,7 +2651,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, addRangefinderGeoms(m, d, vopt, scn); addExternalPerturbGeoms(m, d, vopt, scn); addConstraintGeoms(m, d, vopt, scn); - addContactGeoms(m, d, vopt->flags, vopt, scn, catmask); + addContactGeoms(m, d, vopt, scn, catmask); }