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Use body AABB for torque perturbation visualisation, if available.

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PiperOrigin-RevId: 569579715
Change-Id: I62c1083fb868520832746ca1f28fab2bf1d679cc
This commit is contained in:
Yuval Tassa
2023-09-29 13:49:20 -07:00
committed by Copybara-Service
parent ebded4747f
commit e1549376f6
1 changed files with 14 additions and 3 deletions
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src/engine/engine_vis_visualize.c
+14 -3
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@@ -774,10 +774,21 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
(pert->active & mjPERT_ROTATE) > 0, (pert->active & mjPERT_ROTATE) > 0,
(pert->active2 & mjPERT_ROTATE) > 0); (pert->active2 & mjPERT_ROTATE) > 0);
// construct geom // construct geom: if body i has a collision aabb, use that
sz[0] = sz[1] = sz[2] = scl; mjtNum pos[3] = {0};
if (m->body_bvhnum[i]) {
mjtNum* aabb = m->bvh_aabb+6*m->body_bvhadr[i];
mju_copy3(sz, aabb+3);
mju_rotVecMat(pos, aabb, d->ximat+9*i);
}
// otherwise box of size meansize
else {
sz[0] = sz[1] = sz[2] = scl;
}
mju_quat2Mat(mat, pert->refquat); mju_quat2Mat(mat, pert->refquat);
mjv_initGeom(thisgeom, mjGEOM_BOX, sz, d->xipos+3*i, mat, rgba); mju_addTo3(pos, d->xipos+3*i);
mjv_initGeom(thisgeom, mjGEOM_BOX, sz, pos, mat, rgba);
FINISH FINISH
} }