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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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simulate/simulate.cc
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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"},