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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/xml/xml_native_writer.cc
+3
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@@ -1030,6 +1030,7 @@ void mjXWriter::Visual(XMLElement* root) {
WriteAttrInt(elem, "offwidth", vis->global.offwidth, visdef.global.offwidth);
WriteAttrInt(elem, "offheight", vis->global.offheight, visdef.global.offheight);
WriteAttrKey(elem, "ellipsoidinertia", bool_map, 2, vis->global.ellipsoidinertia, visdef.global.ellipsoidinertia);
WriteAttrKey(elem, "bvactive", bool_map, 2, vis->global.bvactive, visdef.global.bvactive);
if (!elem->FirstAttribute()) {
section->DeleteChild(elem);
}
@@ -1122,6 +1123,8 @@ void mjXWriter::Visual(XMLElement* root) {
WriteAttr(elem, "slidercrank", 4, vis->rgba.slidercrank, visdef.rgba.slidercrank);
WriteAttr(elem, "crankbroken", 4, vis->rgba.crankbroken, visdef.rgba.crankbroken);
WriteAttr(elem, "frustum", 4, vis->rgba.frustum, visdef.rgba.frustum);
WriteAttr(elem, "bv", 4, vis->rgba.bv, visdef.rgba.bv);
WriteAttr(elem, "bvactive", 4, vis->rgba.bvactive, visdef.rgba.bvactive);
if (!elem->FirstAttribute()) {
section->DeleteChild(elem);
}