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Add contact frame visualisation.

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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
This commit is contained in:
Yuval Tassa
2022-03-25 08:44:40 -07:00
committed by Saran Tunyasuvunakool
parent 21338e6178
commit d627374545
4 changed files with 71 additions and 67 deletions
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sample/simulate.cc
+1 -1
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@@ -762,7 +762,7 @@ void makerendering(int oldstate) {
"Frame",
2,
&(vopt.frame),
"None\nBody\nGeom\nSite\nCamera\nLight\nWorld"
"None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
},
{
mjITEM_BUTTON,