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

PiperOrigin-RevId: 599778272 Change-Id: If5530629035cc68b198447503388f59a04041b13
2024-01-19 02:59:06 -08:00
parent 2feefbc5d2
commit fea7c10b95
18 changed files with 147 additions and 44 deletions
@@ -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;