Add bvhactive flag to visual/global. Fixes #1279.
PiperOrigin-RevId: 599778272 Change-Id: If5530629035cc68b198447503388f59a04041b13
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Yuval Tassa
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Copybara-Service
Copybara-Service
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fea7c10b95
@@ -715,6 +715,12 @@ is effectively a miscellaneous subsection.
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This attribute specifies how the equivalent inertia is visualized. "false":
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use box, "true": use ellipsoid.
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.. _visual-global-bvactive:
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:at:`bvactive`: :at-val:`[false, true], "true"`
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This attribute specifies whether collision and raycasting code should mark elements of Bounding Volume Hierarchies
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as intersecting, for the purpose of visualization. Setting this attribute to "false" can speed up simulation for
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models with high-resolution meshes.
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.. _visual-quality:
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@@ -1122,6 +1128,15 @@ disables the rendering of the corresponding object.
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:at:`frustum`: :at-val:`real(4), "1 1 0 0.2"`
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Color used to render the camera frustum.
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.. _visual-rgba-bv:
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:at:`bv`: :at-val:`real(4), "0 1 0 0.5"`
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Color used to render bounding volumes.
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.. _visual-rgba-bvactive:
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:at:`bvactive`: :at-val:`real(4), "1 0 0 0.5"`
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Color used to render active bounding volumes, if the :ref:`bvactive<visual-global-bvactive>` flag is "true".
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.. _asset:
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+4
-2
@@ -65,7 +65,7 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`linewidth<visual-global-linewidth>` | :ref:`glow<visual-global-glow>` | :ref:`offwidth<visual-global-offwidth>` | :ref:`offheight<visual-global-offheight>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | | | |
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| | | | :ref:`realtime<visual-global-realtime>` | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>` | :ref:`bvactive<visual-global-bvactive>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| visual |br| |_| |L| | | .. table:: |
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@@ -126,7 +126,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`contacttorque<visual-rgba-contacttorque>` | :ref:`contactgap<visual-rgba-contactgap>` | :ref:`rangefinder<visual-rgba-rangefinder>` | :ref:`constraint<visual-rgba-constraint>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | | |
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| | | | :ref:`slidercrank<visual-rgba-slidercrank>` | :ref:`crankbroken<visual-rgba-crankbroken>` | :ref:`frustum<visual-rgba-frustum>` | :ref:`bv<visual-rgba-bv>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`bvactive<visual-rgba-bvactive>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | *no attributes* |
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+15
-6
@@ -12,19 +12,26 @@ General
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2. Removed the :ref:`timer<mjtTimer>` for midphase colllision detection, it is now folded in with the narrowphase
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timer. This is because timing the two phases seperately required fine-grained timers inside the collision
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functions; these functions are so small and fast that the timer itself was incurring a measurable cost.
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3. Added the flag :ref:`bvactive<visual-global-bvactive>` to ``visual/global``, allowing users to turn off
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visualisation of active bounding volumes (the red/green boxes in this :ref:`this changelog item<midphase>`). For
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models with very high-resolution meshes, the computation required for this visualization can slow down simulation
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speed. Fixes :github:issue:`1279`.
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- Added color of :ref:`bounding volumes<visual-rgba-bv>` and :ref:`active bounding volumes<visual-rgba-bvactive>`
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to :ref:`visual/rgba<visual-rgba>`.
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MJX
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^^^
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3. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
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4. Added :at:`site` transmission.
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5. Updated MJX colab tutorial with more stable quadruped environment.
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6. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
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4. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
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5. Added :at:`site` transmission.
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6. Updated MJX colab tutorial with more stable quadruped environment.
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7. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
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Bug fixes
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^^^^^^^^^
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7. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
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8. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
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:github:issue:`1270`.
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7. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
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9. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
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bound of the length range. Fixes :github:issue:`1342`.
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@@ -624,6 +631,8 @@ General
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:align: right
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:width: 350px
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.. _midphase:
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2. Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` for more details.
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This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on
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the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`__.
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@@ -753,6 +753,7 @@ struct mjVisual_ { // visualization options
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int offwidth; // width of offscreen buffer
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int offheight; // height of offscreen buffer
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int ellipsoidinertia; // geom for inertia visualization (0: box, 1: ellipsoid)
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int bvactive; // visualize active bounding volumes (0: no, 1: yes)
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} global;
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struct { // rendering quality
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@@ -830,6 +831,8 @@ struct mjVisual_ { // visualization options
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float slidercrank[4]; // slidercrank
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float crankbroken[4]; // used when crank must be stretched/broken
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float frustum[4]; // camera frustum
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float bv[4]; // bounding volume
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float bvactive[4]; // active bounding volume
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} rgba;
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};
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typedef struct mjVisual_ mjVisual;
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