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

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Fixes #409

PiperOrigin-RevId: 564217402
Change-Id: I53ddeef4e343905021cd7852d548f6769c876474
This commit is contained in:
Matthew Bennice
2023-09-10 15:25:17 -07:00
committed by Copybara-Service
parent a07e172770
commit 0ba10cc4f0
12 changed files with 124 additions and 13 deletions
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src/user/user_mesh.cc
+15
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@@ -134,6 +134,9 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
mjuu_setvec(pos_volume_, 0, 0, 0);
mjuu_setvec(quat_surface_, 1, 0, 0, 0);
mjuu_setvec(quat_volume_, 1, 0, 0, 0);
mjuu_setvec(pos_, 0, 0, 0);
mjuu_setvec(quat_, 1, 0, 0, 0);
mjuu_setvec(boxsz_surface_, 0, 0, 0);
mjuu_setvec(boxsz_volume_, 0, 0, 0);
mjuu_setvec(aabb_, 1e10, 1e10, 1e10);
@@ -630,6 +633,18 @@ double* mjCMesh::GetQuatPtr(mjtMeshType type) {
double* mjCMesh::GetOffsetPosPtr() {
return pos_;
}
double* mjCMesh::GetOffsetQuatPtr() {
return quat_;
}
bool mjCMesh::HasTexcoord() const {
return texcoord_ != nullptr;
}