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Add bvhactive flag to visual/global. Fixes #1279.

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PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13
This commit is contained in:
Yuval Tassa
2024-01-19 02:59:06 -08:00
committed by Copybara-Service
parent 2feefbc5d2
commit fea7c10b95
18 changed files with 147 additions and 44 deletions
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doc/XMLreference.rst
+15
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@@ -715,6 +715,12 @@ is effectively a miscellaneous subsection.
This attribute specifies how the equivalent inertia is visualized. "false":
use box, "true": use ellipsoid.
.. _visual-global-bvactive:
:at:`bvactive`: :at-val:`[false, true], "true"`
This attribute specifies whether collision and raycasting code should mark elements of Bounding Volume Hierarchies
as intersecting, for the purpose of visualization. Setting this attribute to "false" can speed up simulation for
models with high-resolution meshes.
.. _visual-quality:
@@ -1122,6 +1128,15 @@ disables the rendering of the corresponding object.
:at:`frustum`: :at-val:`real(4), "1 1 0 0.2"`
Color used to render the camera frustum.
.. _visual-rgba-bv:
:at:`bv`: :at-val:`real(4), "0 1 0 0.5"`
Color used to render bounding volumes.
.. _visual-rgba-bvactive:
:at:`bvactive`: :at-val:`real(4), "1 0 0 0.5"`
Color used to render active bounding volumes, if the :ref:`bvactive<visual-global-bvactive>` flag is "true".
.. _asset:
doc/XMLschema.rst
+4 -2
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@@ -65,7 +65,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | | | |
| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| visual |br| |_| |L| | | .. table:: |
@@ -126,7 +126,9 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`contacttorque<visual-rgba-contacttorque>` | :ref:`contactgap<visual-rgba-contactgap>` | :ref:`rangefinder<visual-rgba-rangefinder>` | :ref:`constraint<visual-rgba-constraint>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | | |
| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | :ref:`bv<visual-rgba-bv>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`bvactive<visual-rgba-bvactive>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| mujoco |br| |L| | | *no attributes* |
doc/changelog.rst
+15 -6
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@@ -12,19 +12,26 @@ General
2. Removed the :ref:`timer<mjtTimer>` for midphase colllision detection, it is now folded in with the narrowphase
timer. This is because timing the two phases seperately required fine-grained timers inside the collision
functions; these functions are so small and fast that the timer itself was incurring a measurable cost.
3. Added the flag :ref:`bvactive<visual-global-bvactive>` to ``visual/global``, allowing users to turn off
visualisation of active bounding volumes (the red/green boxes in this :ref:`this changelog item<midphase>`). For
models with very high-resolution meshes, the computation required for this visualization can slow down simulation
speed. Fixes :github:issue:`1279`.
- Added color of :ref:`bounding volumes<visual-rgba-bv>` and :ref:`active bounding volumes<visual-rgba-bvactive>`
to :ref:`visual/rgba<visual-rgba>`.
MJX
^^^
3. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
4. Added :at:`site` transmission.
5. Updated MJX colab tutorial with more stable quadruped environment.
6. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
4. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
5. Added :at:`site` transmission.
6. Updated MJX colab tutorial with more stable quadruped environment.
7. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
Bug fixes
^^^^^^^^^
7. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
8. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
:github:issue:`1270`.
7. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
9. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
bound of the length range. Fixes :github:issue:`1342`.
@@ -624,6 +631,8 @@ General
:align: right
:width: 350px
.. _midphase:
2. Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` for more details.
This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on
the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`__.
doc/includes/references.h
+3
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@@ -753,6 +753,7 @@ struct mjVisual_ { // visualization options
int offwidth; // width of offscreen buffer
int offheight; // height of offscreen buffer
int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
int bvactive; // visualize active bounding volumes (0: no, 1: yes)
} global;
struct { // rendering quality
@@ -830,6 +831,8 @@ struct mjVisual_ { // visualization options
float slidercrank[4]; // slidercrank
float crankbroken[4]; // used when crank must be stretched/broken
float frustum[4]; // camera frustum
float bv[4]; // bounding volume
float bvactive[4]; // active bounding volume
} rgba;
};
typedef struct mjVisual_ mjVisual;
include/mujoco/mjmodel.h
+3
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@@ -459,6 +459,7 @@ struct mjVisual_ { // visualization options
int offwidth; // width of offscreen buffer
int offheight; // height of offscreen buffer
int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
int bvactive; // visualize active bounding volumes (0: no, 1: yes)
} global;
struct { // rendering quality
@@ -536,6 +537,8 @@ struct mjVisual_ { // visualization options
float slidercrank[4]; // slidercrank
float crankbroken[4]; // used when crank must be stretched/broken
float frustum[4]; // camera frustum
float bv[4]; // bounding volume
float bvactive[4]; // active bounding volume
} rgba;
};
typedef struct mjVisual_ mjVisual;
introspect/structs.py
+21
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@@ -352,6 +352,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='geom for inertia visualization (0: box, 1: ellipsoid)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='bvactive',
type=ValueType(name='int'),
doc='visualize active bounding volumes (0: no, 1: yes)', # pylint: disable=line-too-long
),
),
),
doc='',
@@ -780,6 +785,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='camera frustum',
),
StructFieldDecl(
name='bv',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='bounding volume',
),
StructFieldDecl(
name='bvactive',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(4,),
),
doc='active bounding volume',
),
),
),
doc='',
python/mujoco/structs.cc
+3
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@@ -1400,6 +1400,7 @@ PYBIND11_MODULE(_structs, m) {
X(offwidth);
X(offheight);
X(ellipsoidinertia);
X(bvactive);
#undef X
py::class_<raw::MjVisualQuality> mjVisualQuality(mjVisual, "Quality");
@@ -1529,6 +1530,8 @@ PYBIND11_MODULE(_structs, m) {
X(slidercrank);
X(crankbroken);
X(frustum);
X(bv);
X(bvactive);
#undef X
#define X(var) \
python/mujoco/structs.h
+2
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@@ -233,6 +233,8 @@ class MjWrapper<raw::MjVisualRgba> : public WrapperBase<raw::MjVisualRgba> {
X(slidercrank);
X(crankbroken);
X(frustum);
X(bv);
X(bvactive);
#undef X
};
simulate/simulate.cc
+1
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@@ -896,6 +896,7 @@ void MakeVisualizationSection(mj::Simulate* sim, const mjModel* m, int oldstate)
{mjITEM_EDITNUM, "Extent", 2, &(stat->extent), "1"},
{mjITEM_EDITFLOAT, "Field of view", 2, &(vis->global.fovy), "1"},
{mjITEM_RADIO, "Inertia", 5, &(vis->global.ellipsoidinertia), "Box\nEllipsoid"},
{mjITEM_RADIO, "BVH active", 5, &(vis->global.bvactive), "False\nTrue"},
{mjITEM_SEPARATOR, "Map", 1},
{mjITEM_EDITFLOAT, "Stiffness", 2, &(vis->map.stiffness), "1"},
{mjITEM_EDITFLOAT, "Rot stiffness", 2, &(vis->map.stiffnessrot), "1"},
src/engine/engine_collision_driver.c
+20 -9
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@@ -273,7 +273,9 @@ void mj_collision(const mjModel* m, mjData* d) {
mj_clearEfc(d);
// reset the visualization flags
memset(d->bvh_active, 0, m->nbvh);
if (m->vis.global.bvactive) {
memset(d->bvh_active, 0, m->nbvh);
}
// return if disabled
if (mjDISABLED(mjDSBL_CONSTRAINT) || mjDISABLED(mjDSBL_CONTACT)
@@ -634,6 +636,7 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
mjtByte isbody2 = (bf2 < nbody);
int f1 = isbody1 ? -1 : bf1 - nbody;
int f2 = isbody2 ? -1 : bf2 - nbody;
int mark_active = m->vis.global.bvactive;
const int bvhadr1 = isbody1 ? m->body_bvhadr[bf1] : m->flex_bvhadr[f1];
const int bvhadr2 = isbody2 ? m->body_bvhadr[bf2] : m->flex_bvhadr[f2];
const int* child1 = m->bvh_child + 2*bvhadr1;
@@ -705,8 +708,10 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
d->geom_xpos + 3*nodeid2, d->geom_xmat + 9*nodeid2,
margin, NULL, NULL, &initialize)) {
mj_collideGeomPair(m, d, nodeid1, nodeid2, merged, startadr, pairadr);
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
}
}
}
continue;
@@ -742,8 +747,10 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
if (m->geom_type[nodeid1] != mjGEOM_PLANE) {
mj_collideGeomElem(m, d, nodeid1, f2, nodeid2);
}
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
}
}
}
continue;
@@ -771,8 +778,10 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
// box filter applied in mj_collideElems, bitmask filter applied earlier
if (isleaf1 && isleaf2) {
mj_collideElems(m, d, f1, nodeid1, f2, nodeid2);
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
}
continue;
}
@@ -784,8 +793,10 @@ void mj_collideTree(const mjModel* m, mjData* d, int bf1, int bf2,
}
}
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
if (mark_active) {
d->bvh_active[node1 + bvhadr1] = 1;
d->bvh_active[node2 + bvhadr2] = 1;
}
// keep traversing the tree
if (!isleaf1 && isleaf2) {
src/engine/engine_collision_sdf.c
+3 -6
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@@ -496,7 +496,7 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
const int* faceid = m->bvh_nodeid + bvhadr;
const mjtNum* bvh = m->bvh_aabb + 6*bvhadr;
const int* child = m->bvh_child + 2*bvhadr;
mjtByte* visited = d->bvh_active + bvhadr;
mjtByte* bvh_active = m->vis.global.bvactive ? d->bvh_active + bvhadr : NULL;
mj_markStack(d);
// TODO(quaglino): Store bvh max depths to make this bound tighter.
@@ -521,9 +521,6 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
// node1 is a leaf
if (faceid[node] != -1) {
if (visited[node]) {
continue;
}
if (boxIntersect(bvh+6*node, offset, rotation, m, sdf, d)) {
faces[*npoints] = faceid[node];
if (++(*npoints) == MAXSDFFACE) {
@@ -531,7 +528,7 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
mj_freeStack(d);
return;
}
visited[node] = 1;
if (bvh_active) bvh_active[node] = 1;
}
continue;
}
@@ -541,7 +538,7 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
continue;
}
visited[node] = 1;
if (bvh_active) bvh_active[node] = 1;
// recursive call
for (int i=0; i < 2; i++) {
src/engine/engine_io.c
+3
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@@ -194,6 +194,7 @@ void mj_defaultVisual(mjVisual* vis) {
vis->global.offheight = 480;
vis->global.realtime = 1.0;
vis->global.ellipsoidinertia = 0;
vis->global.bvactive = 1;
// rendering quality
vis->quality.shadowsize = 4096;
@@ -272,6 +273,8 @@ void mj_defaultVisual(mjVisual* vis) {
setf4(vis->rgba.slidercrank, .5, .3, .8, 1.);
setf4(vis->rgba.crankbroken, .9, .0, .0, 1.);
setf4(vis->rgba.frustum, 1., 1., .0, .2);
setf4(vis->rgba.bv, 0., 1., .0, .5);
setf4(vis->rgba.bvactive, 1., 0., .0, .5);
}
src/engine/engine_ray.c
+7 -1
View File
@@ -627,6 +627,7 @@ int mju_raySlab(const mjtNum aabb[6], const mjtNum xpos[3],
// ray vs tree intersection
mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
const mjtNum* vec) {
int mark_active = m->vis.global.bvactive;
const int meshid = m->geom_dataid[id];
const int bvhadr = m->mesh_bvhadr[meshid];
const int* faceid = m->bvh_nodeid + bvhadr;
@@ -701,12 +702,17 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
// update
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
if (mark_active) {
d->bvh_active[node + bvhadr] = 1;
}
}
continue;
}
// used for rendering
d->bvh_active[node + bvhadr] = 1;
if (mark_active) {
d->bvh_active[node + bvhadr] = 1;
}
// add children to the stack
for (int i=0; i < 2; i++) {
src/engine/engine_vis_visualize.c
+23 -15
View File
@@ -532,6 +532,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mjvGeom* thisgeom;
mjvPerturb localpert;
float scl = m->stat.meansize;
int mark_active = m->vis.global.bvactive;
// make default pert if missing
if (!pert) {
@@ -636,7 +637,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
category = mjCAT_DECOR;
objtype = mjOBJ_UNKNOWN;
if (vopt->flags[mjVIS_BODYBVH]) {
float rgba[] = {1, 0, 0, 1};
for (int i = 0; i < m->nbvhstatic; i++) {
int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
if (scn->ngeom >= scn->maxgeom) break;
@@ -671,8 +671,11 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
mju_rotVecMat(pos, center, xmat);
mju_addTo3(pos, xpos);
rgba[0] = d->bvh_active[i] ? 1 : 0;
rgba[1] = d->bvh_active[i] ? 0 : 1;
// set box color
const float* rgba = m->vis.rgba.bv;
if (mark_active && d->bvh_active[i]) {
rgba = m->vis.rgba.bvactive;
}
START
mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
@@ -685,10 +688,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
category = mjCAT_DECOR;
objtype = mjOBJ_UNKNOWN;
if (vopt->flags[mjVIS_FLEXBVH]) {
float rgba[] = {1, 0, 0, 0.1};
for (int f=0; f < m->nflex; f++) {
if (m->flex_bvhnum[f] &&
vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[f]))]) {
if (m->flex_bvhnum[f] && vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[f]))]) {
for (int i=m->flex_bvhadr[f]; i < m->flex_bvhadr[f]+m->flex_bvhnum[f]; i++) {
int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
if (scn->ngeom >= scn->maxgeom) break;
@@ -698,10 +699,14 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
}
// set box data
// get box data
mjtNum *aabb = d->bvh_aabb_dyn + 6*(i - m->nbvhstatic);
rgba[0] = d->bvh_active[i] ? 1 : 0;
rgba[1] = d->bvh_active[i] ? 0 : 1;
// set box color
const float* rgba = m->vis.rgba.bv;
if (mark_active && d->bvh_active[i]) {
rgba = m->vis.rgba.bvactive;
}
START
mjv_initGeom(thisgeom, mjGEOM_LINEBOX, aabb+3, aabb, NULL, rgba);
@@ -715,7 +720,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
category = mjCAT_DECOR;
objtype = mjOBJ_UNKNOWN;
if (vopt->flags[mjVIS_MESHBVH]) {
float rgba[] = {1, 0, 0, 1};
for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[geomid];
if (meshid == -1) {
@@ -732,13 +736,17 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
}
if (!d->bvh_active[i]) {
continue;
// box color
const float* rgba = m->vis.rgba.bv;
if (mark_active) {
if (d->bvh_active[i]) {
rgba = m->vis.rgba.bvactive;
} else {
// when marking active bvs, skip inactive volumes
continue;
}
}
rgba[0] = d->bvh_active[i] ? 1 : 0;
rgba[1] = d->bvh_active[i] ? 0 : 1;
// get xpos, xmat, size
const mjtNum* xpos = d->geom_xpos + 3 * geomid;
const mjtNum* xmat = d->geom_xmat + 9 * geomid;
src/xml/xml_native_reader.cc
+10 -4
View File
@@ -113,8 +113,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"visual", "*", "0"},
{"<"},
{"global", "?", "10", "fovy", "ipd", "azimuth", "elevation", "linewidth", "glow",
"offwidth", "offheight", "realtime", "ellipsoidinertia"},
{"global", "?", "11", "fovy", "ipd", "azimuth", "elevation", "linewidth", "glow",
"offwidth", "offheight", "realtime", "ellipsoidinertia", "bvactive"},
{"quality", "?", "5", "shadowsize", "offsamples", "numslices", "numstacks",
"numquads"},
{"headlight", "?", "4", "ambient", "diffuse", "specular", "active"},
@@ -124,11 +124,11 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"scale", "?", "17", "forcewidth", "contactwidth", "contactheight", "connect", "com",
"camera", "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength",
"actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
{"rgba", "?", "23", "fog", "haze", "force", "inertia", "joint",
{"rgba", "?", "25", "fog", "haze", "force", "inertia", "joint",
"actuator", "actuatornegative", "actuatorpositive", "com",
"camera", "light", "selectpoint", "connect", "contactpoint", "contactforce",
"contactfriction", "contacttorque", "contactgap", "rangefinder",
"constraint", "slidercrank", "crankbroken", "frustum"},
"constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"},
{">"},
{"statistic", "*", "5", "meaninertia", "meanmass", "meansize", "extent", "center"},
@@ -2723,6 +2723,10 @@ void mjXReader::Visual(XMLElement* section) {
if (MapValue(elem, "ellipsoidinertia", &ellipsoidinertia, bool_map, 2)) {
vis->global.ellipsoidinertia = (ellipsoidinertia==1);
}
int bvactive;
if (MapValue(elem, "bvactive", &bvactive, bool_map, 2)) {
vis->global.bvactive = (bvactive==1);
}
}
// quality sub-element
@@ -2808,6 +2812,8 @@ void mjXReader::Visual(XMLElement* section) {
ReadAttr(elem, "slidercrank", 4, vis->rgba.slidercrank, text);
ReadAttr(elem, "crankbroken", 4, vis->rgba.crankbroken, text);
ReadAttr(elem, "frustum", 4, vis->rgba.frustum, text);
ReadAttr(elem, "bv", 4, vis->rgba.bv, text);
ReadAttr(elem, "bvactive", 4, vis->rgba.bvactive, text);
}
// advance to next element
src/xml/xml_native_writer.cc
+3
View File
@@ -1030,6 +1030,7 @@ void mjXWriter::Visual(XMLElement* root) {
WriteAttrInt(elem, "offwidth", vis->global.offwidth, visdef.global.offwidth);
WriteAttrInt(elem, "offheight", vis->global.offheight, visdef.global.offheight);
WriteAttrKey(elem, "ellipsoidinertia", bool_map, 2, vis->global.ellipsoidinertia, visdef.global.ellipsoidinertia);
WriteAttrKey(elem, "bvactive", bool_map, 2, vis->global.bvactive, visdef.global.bvactive);
if (!elem->FirstAttribute()) {
section->DeleteChild(elem);
}
@@ -1122,6 +1123,8 @@ void mjXWriter::Visual(XMLElement* root) {
WriteAttr(elem, "slidercrank", 4, vis->rgba.slidercrank, visdef.rgba.slidercrank);
WriteAttr(elem, "crankbroken", 4, vis->rgba.crankbroken, visdef.rgba.crankbroken);
WriteAttr(elem, "frustum", 4, vis->rgba.frustum, visdef.rgba.frustum);
WriteAttr(elem, "bv", 4, vis->rgba.bv, visdef.rgba.bv);
WriteAttr(elem, "bvactive", 4, vis->rgba.bvactive, visdef.rgba.bvactive);
if (!elem->FirstAttribute()) {
section->DeleteChild(elem);
}
test/engine/testdata/ray/stanford_bunny.xml
Vendored
+8 -1
View File
@@ -3,6 +3,13 @@
<mesh file="stanford_bunny.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="stanford_bunny" pos="1 0 0" euler="0 90 0"/>
<site name="lidar" type="cylinder" pos=".7 .1 0" zaxis="1 0 0" size=".02 .05"/>
<body mocap="true" pos="1 0 0" euler="0 90 0">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
</worldbody>
<sensor>
<rangefinder site="lidar"/>
</sensor>
</mujoco>
unity/Runtime/Bindings/MjBindings.cs
+3
View File
@@ -4985,6 +4985,7 @@ public unsafe struct global {
public int offwidth;
public int offheight;
public int ellipsoidinertia;
public int bvactive;
}
[StructLayout(LayoutKind.Sequential)]
@@ -5067,6 +5068,8 @@ public unsafe struct rgba {
public fixed float slidercrank[4];
public fixed float crankbroken[4];
public fixed float frustum[4];
public fixed float bv[4];
public fixed float bvactive[4];
}
[StructLayout(LayoutKind.Sequential)]