From eae31f0b3cc27756925c8c536aa7aa455a06a272 Mon Sep 17 00:00:00 2001
From: Haroon Qureshi <haroonq@google.com>
Date: Thu, 19 Mar 2026 09:44:04 -0700
Subject: [PATCH] Use model's `num_quads` for generating planes.

PiperOrigin-RevId: 886228541
Change-Id: I693f85edd84e4e1b1db6a932d4479888426bcae4
---
 src/experimental/filament/filament/builtins.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/experimental/filament/filament/builtins.cc b/src/experimental/filament/filament/builtins.cc
index 4690b349..e2467c02 100644
--- a/src/experimental/filament/filament/builtins.cc
+++ b/src/experimental/filament/filament/builtins.cc
@@ -778,7 +778,8 @@ FilamentBuffers CreateLine(filament::Engine* engine, const mjModel* model) {
 }
 
 FilamentBuffers CreatePlane(filament::Engine* engine, const mjModel* model) {
-  return CreateFromBuilder(engine, PlaneBuilder(mjMAXPLANEGRID));
+  const int num_quads = model->vis.quality.numquads;
+  return CreateFromBuilder(engine, PlaneBuilder(num_quads));
 }
 
 FilamentBuffers CreateTriangle(filament::Engine* engine, const mjModel* model) {