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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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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) {