ContactMarkers

Visualize MuJoCo contact points

Renders contact points as small spheres using InstancedMesh for performance. Useful for debugging contact behavior.

Usage

<MujocoCanvas config={config}>
  <ContactMarkers />
</MujocoCanvas>

Customized

<ContactMarkers
  maxContacts={50}
  radius={0.01}
  color="#ff4444"
  visible={showContacts}
/>

Props

maxContacts · number · default: "100"

Maximum number of contact points to render. Limits are important to avoid WASM out-of-memory when reading contact data.

radius · number · default: "0.005"

Sphere radius for each contact marker.

color · string · default: "#4f46e5"

Color of the contact markers.

visible · boolean · default: "true"

Toggle visibility. Useful for a debug panel toggle.

Notes

• Contact data is read from data.contact every frame
• Access is wrapped in try/catch since contact reads can fail if ncon is large
• The component always checks data.ncon before iterating contacts
• Uses InstancedMesh for efficient rendering of many small spheres