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

PiperOrigin-RevId: 599778272
Change-Id: If5530629035cc68b198447503388f59a04041b13

doc/XMLreference.rst

@@ -715,6 +715,12 @@ is effectively a miscellaneous subsection.
    This attribute specifies how the equivalent inertia is visualized. "false":
    use box, "true": use ellipsoid.
 
+.. _visual-global-bvactive:
+
+:at:`bvactive`: :at-val:`[false, true], "true"`
+   This attribute specifies whether collision and raycasting code should mark elements of Bounding Volume Hierarchies
+   as intersecting, for the purpose of visualization. Setting this attribute to "false" can speed up simulation for
+   models with high-resolution meshes.
 
 .. _visual-quality:
 
@@ -1122,6 +1128,15 @@ disables the rendering of the corresponding object.
 :at:`frustum`: :at-val:`real(4), "1 1 0 0.2"`
    Color used to render the camera frustum.
 
+.. _visual-rgba-bv:
+
+:at:`bv`: :at-val:`real(4), "0 1 0 0.5"`
+   Color used to render bounding volumes.
+
+.. _visual-rgba-bvactive:
+
+:at:`bvactive`: :at-val:`real(4), "1 0 0 0.5"`
+   Color used to render active bounding volumes, if the :ref:`bvactive<visual-global-bvactive>` flag is "true".
 
 .. _asset:
 

doc/XMLschema.rst

@@ -65,7 +65,7 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`linewidth<visual-global-linewidth>`                       | :ref:`glow<visual-global-glow>`                                 | :ref:`offwidth<visual-global-offwidth>`                         | :ref:`offheight<visual-global-offheight>`                       | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`realtime<visual-global-realtime>`                         | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`         |                                                                 |                                                                 | |
+|                                    |    |    | :ref:`realtime<visual-global-realtime>`                         | :ref:`ellipsoidinertia<visual-global-ellipsoidinertia>`         | :ref:`bvactive<visual-global-bvactive>`                         |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| visual |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |
@@ -126,7 +126,9 @@
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 |                                    |    |    | :ref:`contacttorque<visual-rgba-contacttorque>`                 | :ref:`contactgap<visual-rgba-contactgap>`                       | :ref:`rangefinder<visual-rgba-rangefinder>`                     | :ref:`constraint<visual-rgba-constraint>`                       | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`slidercrank<visual-rgba-slidercrank>`                     | :ref:`crankbroken<visual-rgba-crankbroken>`                     | :ref:`frustum<visual-rgba-frustum>`                             |                                                                 | |
+|                                    |    |    | :ref:`slidercrank<visual-rgba-slidercrank>`                     | :ref:`crankbroken<visual-rgba-crankbroken>`                     | :ref:`frustum<visual-rgba-frustum>`                             | :ref:`bv<visual-rgba-bv>`                                       | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`bvactive<visual-rgba-bvactive>`                           |                                                                 |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | mujoco |br| |L|                    |    | *no attributes*                                                                                                                                                                                                                                                              |

doc/changelog.rst

@@ -12,19 +12,26 @@ General
 2. Removed the :ref:`timer<mjtTimer>` for midphase colllision detection, it is now folded in with the narrowphase
    timer. This is because timing the two phases seperately required fine-grained timers inside the collision
    functions; these functions are so small and fast that the timer itself was incurring a measurable cost.
+3. Added the flag :ref:`bvactive<visual-global-bvactive>` to ``visual/global``, allowing users to turn off
+   visualisation of active bounding volumes (the red/green boxes in this :ref:`this changelog item<midphase>`). For
+   models with very high-resolution meshes, the computation required for this visualization can slow down simulation
+   speed. Fixes :github:issue:`1279`.
+
+   - Added color of :ref:`bounding volumes<visual-rgba-bv>` and :ref:`active bounding volumes<visual-rgba-bvactive>`
+     to :ref:`visual/rgba<visual-rgba>`.
 
 MJX
 ^^^
-3. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
+4. Added :ref:`dyntype<actuator-general-dyntype>` ``filterexact``.
-4. Added :at:`site` transmission.
+5. Added :at:`site` transmission.
-5. Updated MJX colab tutorial with more stable quadruped environment.
+6. Updated MJX colab tutorial with more stable quadruped environment.
-6. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
+7. Added ``mjx.ray`` which mirrors :ref:`mj_ray` for planes, spheres, capsules, boxes, and meshes.
 
 Bug fixes
 ^^^^^^^^^
-7. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
+8. Fixed a bug that prevented the use of pins with plugins if flexes are not in the worldbody. Fixes
    :github:issue:`1270`.
-7. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
+9. Fixed a bug in the :ref:`muscle model<CMuscle>` that led to non-zero values outside the lower
    bound of the length range. Fixes :github:issue:`1342`.
 
 
@@ -624,6 +631,8 @@ General
    :align: right
    :width: 350px
 
+.. _midphase:
+
 2. Added a collision mid-phase for pruning geoms in body pairs, see :ref:`documentation<coSelection>` for more details.
    This is based on static AABB bounding volume hierarchy (a BVH binary tree) in the body inertial frame. The GIF on
    the right is cut from `this longer video <https://youtu.be/e0babIM8hBo>`__.

doc/includes/references.h

@@ -753,6 +753,7 @@ 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
@@ -830,6 +831,8 @@ 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;

include/mujoco/mjmodel.h

@@ -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;

introspect/structs.py

@@ -352,6 +352,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              type=ValueType(name='int'),
                              doc='geom for inertia visualization (0: box, 1: ellipsoid)',  # pylint: disable=line-too-long
                          ),
+                         StructFieldDecl(
+                             name='bvactive',
+                             type=ValueType(name='int'),
+                             doc='visualize active bounding volumes (0: no, 1: yes)',  # pylint: disable=line-too-long
+                         ),
                      ),
                  ),
                  doc='',
@@ -780,6 +785,22 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='camera frustum',
                          ),
+                         StructFieldDecl(
+                             name='bv',
+                             type=ArrayType(
+                                 inner_type=ValueType(name='float'),
+                                 extents=(4,),
+                             ),
+                             doc='bounding volume',
+                         ),
+                         StructFieldDecl(
+                             name='bvactive',
+                             type=ArrayType(
+                                 inner_type=ValueType(name='float'),
+                                 extents=(4,),
+                             ),
+                             doc='active bounding volume',
+                         ),
                      ),
                  ),
                  doc='',

python/mujoco/structs.cc

@@ -1400,6 +1400,7 @@ PYBIND11_MODULE(_structs, m) {
   X(offwidth);
   X(offheight);
   X(ellipsoidinertia);
+  X(bvactive);
 #undef X
 
   py::class_<raw::MjVisualQuality> mjVisualQuality(mjVisual, "Quality");
@@ -1529,6 +1530,8 @@ PYBIND11_MODULE(_structs, m) {
   X(slidercrank);
   X(crankbroken);
   X(frustum);
+  X(bv);
+  X(bvactive);
 #undef X
 
 #define X(var)                    \

python/mujoco/structs.h

@@ -233,6 +233,8 @@ class MjWrapper<raw::MjVisualRgba> : public WrapperBase<raw::MjVisualRgba> {
   X(slidercrank);
   X(crankbroken);
   X(frustum);
+  X(bv);
+  X(bvactive);
   #undef X
 };
 

simulate/simulate.cc

@@ -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"},

src/engine/engine_collision_driver.c

@@ -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;
+            if (mark_active) {
-            d->bvh_active[node2 + bvhadr2] = 1;
+              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;
+            if (mark_active) {
-            d->bvh_active[node2 + bvhadr2] = 1;
+              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;
+        if (mark_active) {
-        d->bvh_active[node2 + bvhadr2] = 1;
+          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;
+    if (mark_active) {
-    d->bvh_active[node2 + bvhadr2] = 1;
+      d->bvh_active[node1 + bvhadr1] = 1;
+      d->bvh_active[node2 + bvhadr2] = 1;
+    }
 
     // keep traversing the tree
     if (!isleaf1 && isleaf2) {

src/engine/engine_collision_sdf.c

@@ -496,7 +496,7 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
   const int* faceid = m->bvh_nodeid + bvhadr;
   const mjtNum* bvh = m->bvh_aabb + 6*bvhadr;
   const int* child = m->bvh_child + 2*bvhadr;
-  mjtByte* visited = d->bvh_active + bvhadr;
+  mjtByte* bvh_active = m->vis.global.bvactive ? d->bvh_active + bvhadr : NULL;
 
   mj_markStack(d);
   // TODO(quaglino): Store bvh max depths to make this bound tighter.
@@ -521,9 +521,6 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
 
     // node1 is a leaf
     if (faceid[node] != -1) {
-      if (visited[node]) {
-        continue;
-      }
       if (boxIntersect(bvh+6*node, offset, rotation, m, sdf, d)) {
         faces[*npoints] = faceid[node];
         if (++(*npoints) == MAXSDFFACE) {
@@ -531,7 +528,7 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
           mj_freeStack(d);
           return;
         }
-        visited[node] = 1;
+        if (bvh_active) bvh_active[node] = 1;
       }
       continue;
     }
@@ -541,7 +538,7 @@ static void collideBVH(const mjModel* m, mjData* d, int g,
       continue;
     }
 
-    visited[node] = 1;
+    if (bvh_active) bvh_active[node] = 1;
 
     // recursive call
     for (int i=0; i < 2; i++) {

src/engine/engine_io.c

@@ -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);
 }
 
 

src/engine/engine_ray.c

@@ -627,6 +627,7 @@ int mju_raySlab(const mjtNum aabb[6], const mjtNum xpos[3],
 // ray vs tree intersection
 mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
                    const mjtNum* vec) {
+  int mark_active = m->vis.global.bvactive;
   const int meshid = m->geom_dataid[id];
   const int bvhadr = m->mesh_bvhadr[meshid];
   const int* faceid = m->bvh_nodeid + bvhadr;
@@ -701,12 +702,17 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
       // update
       if (sol >= 0 && (x < 0 || sol < x)) {
         x = sol;
+        if (mark_active) {
+          d->bvh_active[node + bvhadr] = 1;
+        }
       }
       continue;
     }
 
     // used for rendering
-    d->bvh_active[node + bvhadr] = 1;
+    if (mark_active) {
+      d->bvh_active[node + bvhadr] = 1;
+    }
 
     // add children to the stack
     for (int i=0; i < 2; i++) {

src/engine/engine_vis_visualize.c

@@ -532,6 +532,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   mjvGeom* thisgeom;
   mjvPerturb localpert;
   float scl = m->stat.meansize;
+  int mark_active = m->vis.global.bvactive;
 
   // make default pert if missing
   if (!pert) {
@@ -636,7 +637,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   category = mjCAT_DECOR;
   objtype = mjOBJ_UNKNOWN;
   if (vopt->flags[mjVIS_BODYBVH]) {
-    float rgba[] = {1, 0, 0, 1};
     for (int i = 0; i < m->nbvhstatic; i++) {
       int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
       if (scn->ngeom >= scn->maxgeom) break;
@@ -671,8 +671,11 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
       mju_rotVecMat(pos, center, xmat);
       mju_addTo3(pos, xpos);
 
-      rgba[0] = d->bvh_active[i] ? 1 : 0;
+      // set box color
-      rgba[1] = d->bvh_active[i] ? 0 : 1;
+      const float* rgba = m->vis.rgba.bv;
+      if (mark_active && d->bvh_active[i]) {
+        rgba = m->vis.rgba.bvactive;
+      }
 
       START
       mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
@@ -685,10 +688,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   category = mjCAT_DECOR;
   objtype = mjOBJ_UNKNOWN;
   if (vopt->flags[mjVIS_FLEXBVH]) {
-    float rgba[] = {1, 0, 0, 0.1};
     for (int f=0; f < m->nflex; f++) {
-      if (m->flex_bvhnum[f] &&
+      if (m->flex_bvhnum[f] && vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[f]))]) {
-          vopt->flexgroup[mjMAX(0, mjMIN(mjNGROUP-1, m->flex_group[f]))]) {
         for (int i=m->flex_bvhadr[f]; i < m->flex_bvhadr[f]+m->flex_bvhnum[f]; i++) {
           int isleaf = m->bvh_child[2*i] == -1 && m->bvh_child[2*i+1] == -1;
           if (scn->ngeom >= scn->maxgeom) break;
@@ -698,10 +699,14 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
             }
           }
 
-          // set box data
+          // get box data
           mjtNum *aabb = d->bvh_aabb_dyn + 6*(i - m->nbvhstatic);
-          rgba[0] = d->bvh_active[i] ? 1 : 0;
+
-          rgba[1] = d->bvh_active[i] ? 0 : 1;
+          // set box color
+          const float* rgba = m->vis.rgba.bv;
+          if (mark_active && d->bvh_active[i]) {
+            rgba = m->vis.rgba.bvactive;
+          }
 
           START
           mjv_initGeom(thisgeom, mjGEOM_LINEBOX, aabb+3, aabb, NULL, rgba);
@@ -715,7 +720,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   category = mjCAT_DECOR;
   objtype = mjOBJ_UNKNOWN;
   if (vopt->flags[mjVIS_MESHBVH]) {
-    float rgba[] = {1, 0, 0, 1};
     for (int geomid = 0; geomid < m->ngeom; geomid++) {
       int meshid = m->geom_dataid[geomid];
       if (meshid == -1) {
@@ -732,13 +736,17 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           }
         }
 
-        if (!d->bvh_active[i]) {
+        // box color
-          continue;
+        const float* rgba = m->vis.rgba.bv;
+        if (mark_active) {
+          if (d->bvh_active[i]) {
+            rgba = m->vis.rgba.bvactive;
+          } else {
+            // when marking active bvs, skip inactive volumes
+            continue;
+          }
         }
 
-        rgba[0] = d->bvh_active[i] ? 1 : 0;
-        rgba[1] = d->bvh_active[i] ? 0 : 1;
-
         // get xpos, xmat, size
         const mjtNum* xpos = d->geom_xpos + 3 * geomid;
         const mjtNum* xmat = d->geom_xmat + 9 * geomid;

src/xml/xml_native_reader.cc

@@ -113,8 +113,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
 
     {"visual", "*", "0"},
     {"<"},
-        {"global", "?", "10", "fovy", "ipd", "azimuth", "elevation", "linewidth", "glow",
+        {"global", "?", "11", "fovy", "ipd", "azimuth", "elevation", "linewidth", "glow",
-            "offwidth", "offheight", "realtime", "ellipsoidinertia"},
+            "offwidth", "offheight", "realtime", "ellipsoidinertia", "bvactive"},
         {"quality", "?", "5", "shadowsize", "offsamples", "numslices", "numstacks",
             "numquads"},
         {"headlight", "?", "4", "ambient", "diffuse", "specular", "active"},
@@ -124,11 +124,11 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
         {"scale", "?", "17", "forcewidth", "contactwidth", "contactheight", "connect", "com",
             "camera", "light", "selectpoint", "jointlength", "jointwidth", "actuatorlength",
             "actuatorwidth", "framelength", "framewidth", "constraint", "slidercrank", "frustum"},
-        {"rgba", "?", "23", "fog", "haze", "force", "inertia", "joint",
+        {"rgba", "?", "25", "fog", "haze", "force", "inertia", "joint",
             "actuator", "actuatornegative", "actuatorpositive", "com",
             "camera", "light", "selectpoint", "connect", "contactpoint", "contactforce",
             "contactfriction", "contacttorque", "contactgap", "rangefinder",
-            "constraint", "slidercrank", "crankbroken", "frustum"},
+            "constraint", "slidercrank", "crankbroken", "frustum", "bv", "bvactive"},
     {">"},
 
     {"statistic", "*", "5", "meaninertia", "meanmass", "meansize", "extent", "center"},
@@ -2723,6 +2723,10 @@ void mjXReader::Visual(XMLElement* section) {
       if (MapValue(elem, "ellipsoidinertia", &ellipsoidinertia, bool_map, 2)) {
         vis->global.ellipsoidinertia = (ellipsoidinertia==1);
       }
+      int bvactive;
+      if (MapValue(elem, "bvactive", &bvactive, bool_map, 2)) {
+        vis->global.bvactive = (bvactive==1);
+      }
     }
 
     // quality sub-element
@@ -2808,6 +2812,8 @@ void mjXReader::Visual(XMLElement* section) {
       ReadAttr(elem, "slidercrank",      4, vis->rgba.slidercrank,     text);
       ReadAttr(elem, "crankbroken",      4, vis->rgba.crankbroken,     text);
       ReadAttr(elem, "frustum",          4, vis->rgba.frustum,         text);
+      ReadAttr(elem, "bv",               4, vis->rgba.bv,              text);
+      ReadAttr(elem, "bvactive",         4, vis->rgba.bvactive,        text);
     }
 
     // advance to next element

src/xml/xml_native_writer.cc

@@ -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);
   }

test/engine/testdata/ray/stanford_bunny.xml

@@ -3,6 +3,13 @@
     <mesh file="stanford_bunny.obj"/>
   </asset>
   <worldbody>
-    <geom type="mesh" mesh="stanford_bunny" pos="1 0 0" euler="0 90 0"/>
+    <site name="lidar" type="cylinder" pos=".7 .1 0" zaxis="1 0 0" size=".02 .05"/>
+    <body mocap="true" pos="1 0 0" euler="0 90 0">
+      <geom type="mesh" mesh="stanford_bunny"/>
+    </body>
   </worldbody>
+
+  <sensor>
+    <rangefinder site="lidar"/>
+  </sensor>
 </mujoco>

unity/Runtime/Bindings/MjBindings.cs

@@ -4985,6 +4985,7 @@ public unsafe struct global {
   public int offwidth;
   public int offheight;
   public int ellipsoidinertia;
+  public int bvactive;
 }
 
 [StructLayout(LayoutKind.Sequential)]
@@ -5067,6 +5068,8 @@ public unsafe struct rgba {
   public fixed float slidercrank[4];
   public fixed float crankbroken[4];
   public fixed float frustum[4];
+  public fixed float bv[4];
+  public fixed float bvactive[4];
 }
 
 [StructLayout(LayoutKind.Sequential)]