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Remove redundant flags argument.

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PiperOrigin-RevId: 817115667
Change-Id: I4e5096206d7c24f5861e1bb9e8049149803dceeb
This commit is contained in:
Haroon Qureshi
2025-10-09 04:06:20 -07:00
committed by Copybara-Service
parent 98682ae284
commit abe88202d0
1 changed files with 8 additions and 7 deletions
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src/engine/engine_vis_visualize.c
+8 -7
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@@ -527,9 +527,10 @@ void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjMod
//----------------------------- main API functions ------------------------------------------------- //----------------------------- main API functions -------------------------------------------------
// add contact-related geoms in mjvObject // add contact-related geoms in mjvObject
static void addContactGeoms(const mjModel* m, mjData* d, const mjtByte* flags, static void addContactGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, mjvScene* scn,
const mjvOption* vopt, mjvScene* scn, int catmask) { int catmask) {
if (!flags[mjVIS_CONTACTPOINT] && !flags[mjVIS_CONTACTFORCE] && vopt->frame != mjFRAME_CONTACT) { if (!vopt->flags[mjVIS_CONTACTPOINT] && !vopt->flags[mjVIS_CONTACTFORCE] &&
vopt->frame != mjFRAME_CONTACT) {
return; return;
} }
@@ -551,7 +552,7 @@ static void addContactGeoms(const mjModel* m, mjData* d, const mjtByte* flags,
mju_transpose(mat, tmp, 3, 3); mju_transpose(mat, tmp, 3, 3);
// contact point // contact point
if (flags[mjVIS_CONTACTPOINT]) { if (vopt->flags[mjVIS_CONTACTPOINT]) {
thisgeom = acquireGeom(scn, i, category, objtype); thisgeom = acquireGeom(scn, i, category, objtype);
if (!thisgeom) { if (!thisgeom) {
return; return;
@@ -646,7 +647,7 @@ static void addContactGeoms(const mjModel* m, mjData* d, const mjtByte* flags,
mj_contactForce(m, d, i, confrc); mj_contactForce(m, d, i, confrc);
// contact force // contact force
if (flags[mjVIS_CONTACTFORCE]) { if (vopt->flags[mjVIS_CONTACTFORCE]) {
// get force, fill zeros if only normal // get force, fill zeros if only normal
mju_zero3(frc); mju_zero3(frc);
mju_copy(frc, confrc, mjMIN(3, con->dim)); 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 // 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++) { for (int j = (split ? 1 : 0); j < (split ? 3 : 1); j++) {
// set vec to combined, normal or friction force, in world frame // set vec to combined, normal or friction force, in world frame
switch (j) { switch (j) {
@@ -2650,7 +2651,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
addRangefinderGeoms(m, d, vopt, scn); addRangefinderGeoms(m, d, vopt, scn);
addExternalPerturbGeoms(m, d, vopt, scn); addExternalPerturbGeoms(m, d, vopt, scn);
addConstraintGeoms(m, d, vopt, scn); addConstraintGeoms(m, d, vopt, scn);
addContactGeoms(m, d, vopt->flags, vopt, scn, catmask); addContactGeoms(m, d, vopt, scn, catmask);
} }