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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_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);
}