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Allow flex sleeping

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PiperOrigin-RevId: 917817500
Change-Id: Ia3bd5e52e7c2eaa3f70c81352d82c130b1d357f6
This commit is contained in:
Yuval Tassa
2026-05-19 07:14:45 -07:00
committed by Copybara-Service
parent ddc4c54d16
commit f712eed4ce
21 changed files with 660 additions and 57 deletions
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src/engine/engine_vis_visualize.c
+39
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@@ -772,6 +772,45 @@ static void addFlexGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
thisgeom->size[0] = m->flex_radius[i];
setMaterial(m, thisgeom, m->flex_matid[i], m->flex_rgba+4*i, vopt->flags);
// override if visualizing islands
if (vopt->flags[mjVIS_ISLAND]) {
// find first dynamic body in flex
int bodyid = -1;
if (m->flex_interp[i]) {
int nodeadr = m->flex_nodeadr[i];
for (int j=0; j < m->flex_nodenum[i] && bodyid < 0; j++) {
int b = m->flex_nodebodyid[nodeadr+j];
if (m->body_treeid[b] >= 0) bodyid = b;
}
} else {
int vertadr = m->flex_vertadr[i];
for (int j=0; j < m->flex_vertnum[i] && bodyid < 0; j++) {
int b = m->flex_vertbodyid[vertadr+j];
if (m->body_treeid[b] >= 0) bodyid = b;
}
}
if (bodyid >= 0) {
// strip material
thisgeom->matid = -1;
int weld_id = m->body_weldid[bodyid];
int dof = m->body_dofadr[weld_id];
int island = d->nisland ? d->dof_island[dof] : -1;
int h = island >= 0 ? d->island_dofadr[island] : -1;
int awake = d->body_awake[bodyid];
// if sleep is enabled, color by first tree dof
if (h == -1 && mjENABLED(mjENBL_SLEEP)) {
int tree = m->dof_treeid[dof];
if (!awake) tree = mj_sleepCycle(d->tree_asleep, m->ntree, tree);
h = m->tree_dofadr[tree];
}
islandColor(thisgeom->rgba, h, awake);
}
}
// set texcoord
if (m->flex_texcoordadr[i] >= 0) {
thisgeom->texcoord = 1;