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Fix multiple bugs related to mjvSceneState.

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PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
This commit is contained in:
Yuval Tassa
2023-08-17 10:24:44 -07:00
committed by Copybara-Service
parent cf310079e2
commit b1ecc943bb
11 changed files with 302 additions and 147 deletions
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src/engine/engine_vis_visualize.c
+4 -17
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@@ -73,6 +73,7 @@ static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
return; \
} else { \
thisgeom = scn->geoms + scn->ngeom; \
memset(thisgeom, 0, sizeof(mjvGeom)); \
mjv_initGeom(thisgeom, mjGEOM_NONE, NULL, NULL, NULL, NULL); \
thisgeom->objtype = objtype; \
thisgeom->objid = i; \
@@ -1580,23 +1581,9 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->flags[mjVIS_ISLAND] && d->nisland) {
tendon_matid = -1;
rgba = rgba_island;
int frictional = m->tendon_frictionloss[i] > 0;
int limited = m->tendon_limited[i] && (ten_length <= lower || ten_length >= upper);
if (frictional || limited) {
// search for tendon's island
int island = -1;
for (int k=0; k < d->nefc; k++) {
int istendon = d->efc_type[k] == mjCNSTR_FRICTION_TENDON ||
d->efc_type[k] == mjCNSTR_LIMIT_TENDON;
if (istendon && d->efc_id[k] == i) {
island = d->efc_island[k];
break;
}
}
if (island > -1) {
// set color using island's first dof
islandColor(rgba_island, d->island_dofadr[island]);
}
if (d->tendon_efcadr[i] != -1) {
// set color using island's first dof
islandColor(rgba_island, d->island_dofadr[d->efc_island[d->tendon_efcadr[i]]]);
}
}
setMaterial(m, thisgeom, tendon_matid, rgba, vopt->flags);