From b63252e4bb01a1ed8d6619c4974d29d0194e7731 Mon Sep 17 00:00:00 2001
From: Haroon Qureshi <haroonq@google.com>
Date: Fri, 10 Oct 2025 09:57:09 -0700
Subject: [PATCH] Render labels for any geom with a label, not just label
 geoms.

PiperOrigin-RevId: 817686605
Change-Id: I030626dd942e50eef33e0de7e9d0f314fd2f457d
---
 src/experimental/filament/filament/scene_view.cc | 16 ++++++----------
 1 file changed, 6 insertions(+), 10 deletions(-)

diff --git a/src/experimental/filament/filament/scene_view.cc b/src/experimental/filament/filament/scene_view.cc
index 72a6138d..a4d548a9 100644
--- a/src/experimental/filament/filament/scene_view.cc
+++ b/src/experimental/filament/filament/scene_view.cc
@@ -335,21 +335,17 @@ void SceneView::UpdateScene(const mjrContext* context, const mjvScene* scene) {
   drawables_.clear();
   for (int i = 0; i < scene->ngeom; ++i) {
     const mjvGeom* geom = scene->geoms + i;
-    const mjtGeom geom_type = static_cast<mjtGeom>(geom->type);
 
-    if (geom_type == mjGEOM_LABEL) {
-      if (geom->label[0] == 0) {
-        continue;
-      }
+    if (geom->label[0] != 0) {
       if (auto pos = ClipFromWorld(ReadFloat3(geom->pos))) {
         DrawTextAt(geom->label, pos->x, pos->y, pos->z);
       }
-    } else {
-      auto drawable = std::make_unique<Drawable>(object_mgr_, *geom);
-      drawable->AddToScene(scene_);
-      drawable->Update(object_mgr_->GetModel(), scene, *geom);
-      drawables_.push_back(std::move(drawable));
     }
+
+    auto drawable = std::make_unique<Drawable>(object_mgr_, *geom);
+    drawable->AddToScene(scene_);
+    drawable->Update(object_mgr_->GetModel(), scene, *geom);
+    drawables_.push_back(std::move(drawable));
   }
 
   bool headlight_enabled = false;