Do not draw touch sensor grid if contact point vis flag is disabled.

PiperOrigin-RevId: 781908115 Change-Id: Id42206b1d8b6766352071e20150e2a4047895bf7
2025-07-11 03:10:23 -07:00
parent 3c99705f85
commit bbb265da4a
1 changed files with 3 additions and 0 deletions
@@ -407,6 +407,9 @@ static const mjtNum kRelativeThickness = 0.02;

 void TouchStress::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
                             mjvScene* scn, int instance) {
+  if (!opt->flags[mjVIS_CONTACTPOINT]) {
+    return;
+  }
  mj_markStack(d);

  // Get sensor data.