Use the geom frame for SDF collisions.

Also disables mesh reorientation for meshes autogenerated with marching cubes from analytic SDFs. PiperOrigin-RevId: 781487195 Change-Id: I36b66384f240a764823c489f78f22ba9fe32f15f
2025-07-10 05:14:09 -07:00
parent 7e57a6bc30
commit 2d69610abd
4 changed files with 52 additions and 79 deletions
@@ -1003,6 +1003,7 @@ class mjCMesh_ : public mjCBase {
  std::vector<int> spec_facetexcoord_;

  // used by the compiler
+  bool needreorient_;                            // needs reorientation
  bool needoct_;                                 // needs octree
  bool visual_;                                  // true: the mesh is only visual
  std::vector< std::pair<int, int> > halfedge_;  // half-edge data