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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_model.cc
+11
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@@ -1737,6 +1737,8 @@ void mjCModel::CopyObjects(mjModel* m) {
m->mesh_graphadr[i] = (pme->szgraph() ? graph_adr : -1);
m->mesh_bvhadr[i] = bvh_adr;
m->mesh_bvhnum[i] = pme->tree().nbvh;
copyvec(&m->mesh_pos[3 * i], pme->GetOffsetPosPtr(), 3);
copyvec(&m->mesh_quat[4 * i], pme->GetOffsetQuatPtr(), 4);
// copy vertices, normals, faces, texcoords, aux data
pme->CopyVert(m->mesh_vert + 3*vert_adr);
@@ -3015,6 +3017,15 @@ bool mjCModel::CopyBack(const mjModel* m) {
}
}
// mesh
mjCMesh* pm;
for (int i=0; i<nmesh; i++) {
pm = meshes[i];
copyvec(pm->GetOffsetPosPtr(), m->mesh_pos+3*i, 3);
copyvec(pm->GetOffsetQuatPtr(), m->mesh_quat+4*i, 4);
}
// sites
for (int i=0; i<nsite; i++) {
copyvec(sites[i]->size, m->site_size + 3 * i, 3);