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Fix rendering contact force problem. #487

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Fix rendering contact force problem. #487

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edafc6a
[add] test codes to debug contact force rendering.
iZuno-K Nov 28, 2019
ab026c1
[bug fix] use const.VIS_CONTACTFORCE rather than specify the certain …
iZuno-K Nov 28, 2019
024555e
[mod] remove test codes.
iZuno-K Nov 28, 2019
4d89b76
[mod] remove a redundant line
iZuno-K Nov 28, 2019
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6 changes: 2 additions & 4 deletions mujoco_py/mjviewer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,6 @@
from multiprocessing import Process, Queue
from threading import Lock


class MjViewerBasic(cymj.MjRenderContextWindow):
"""
A simple display GUI showing the scene of an :class:`.MjSim` with a mouse-movable camera.
Expand Down Expand Up @@ -252,7 +251,7 @@ def _create_full_overlay(self):
self.add_overlay(const.GRID_TOPLEFT, "Switch camera (#cams = %d)" % (self._ncam + 1),
"[Tab] (camera ID = %d)" % self.cam.fixedcamid)
self.add_overlay(const.GRID_TOPLEFT, "[C]ontact forces", "Off" if self.vopt.flags[
10] == 1 else "On")
const.VIS_CONTACTFORCE] == 0 else "On")
self.add_overlay(
const.GRID_TOPLEFT, "Referenc[e] frames", "Off" if self.vopt.frame == 1 else "On")
self.add_overlay(const.GRID_TOPLEFT,
Expand Down Expand Up @@ -339,8 +338,7 @@ def key_callback(self, window, key, scancode, action, mods):
elif key == glfw.KEY_F: # Speeds up simulation.
self._run_speed *= 2.0
elif key == glfw.KEY_C: # Displays contact forces.
vopt = self.vopt
vopt.flags[10] = vopt.flags[11] = not vopt.flags[10]
self.vopt.flags[const.VIS_CONTACTFORCE] = not self.vopt.flags[const.VIS_CONTACTFORCE]
elif key == glfw.KEY_D: # turn off / turn on rendering every frame.
self._render_every_frame = not self._render_every_frame
elif key == glfw.KEY_E:
Expand Down