Save normalising transform applied to mesh assets in mjModel.mesh_{pos,quat}

Fixes #409 PiperOrigin-RevId: 564217402 Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
2023-09-10 15:25:17 -07:00
parent a07e172770
commit 0ba10cc4f0
12 changed files with 124 additions and 13 deletions
@@ -2102,6 +2102,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 ),
                 doc='graph data address; -1: no graph         (nmesh x 1)',
             ),
+             StructFieldDecl(
+                 name='mesh_pos',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='translation applied to asset vertices    (nmesh x 3)',
+             ),
+             StructFieldDecl(
+                 name='mesh_quat',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='rotation applied to asset vertices       (nmesh x 4)',
+             ),
             StructFieldDecl(
                 name='mesh_vert',
                 type=PointerType(