Add contact frame visualisation.

This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important. PiperOrigin-RevId: 437256700 Change-Id: I5eab737fc98018399e151552778c6109088bf614
2022-03-25 08:44:40 -07:00
parent 21338e6178
commit d627374545
4 changed files with 71 additions and 67 deletions
@@ -88,6 +88,7 @@ typedef enum mjtFrame_ {          // frame visualization
  mjFRAME_SITE,                   // site frames
  mjFRAME_CAMERA,                 // camera frames
  mjFRAME_LIGHT,                  // light frames
+  mjFRAME_CONTACT,                // contact frames
  mjFRAME_WORLD,                  // world frame

  mjNFRAME                        // number of visualization frames