Fixed collision visual bounding boxes (#746)

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>
gazebosim · Apr 7, 2021 · 3e8d4e7 · 3e8d4e7
1 parent 4e69556
commit 3e8d4e7
Showing 1 changed file with 14 additions and 0 deletions.
diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
@@ -2117,5 +2117,19 @@ void RenderUtil::ViewCollisions(const Entity &_entity)
 
     this->dataPtr->viewingCollisions[colEntity] = showCol;
     colVisual->SetVisible(showCol);
+
+    if (showCol)
+    {
+      // turn off wireboxes for collision entity
+      if (this->dataPtr->wireBoxes.find(colEntity)
+            != this->dataPtr->wireBoxes.end())
+      {
+        ignition::rendering::WireBoxPtr wireBox =
+          this->dataPtr->wireBoxes[colEntity];
+        auto visParent = wireBox->Parent();
+        if (visParent)
+          visParent->SetVisible(false);
+      }
+    }
   }
 }