From 37563a050e50c8329f9bff1212cbea8a471d0567 Mon Sep 17 00:00:00 2001 From: Alessio Quaglino Date: Wed, 29 Oct 2025 13:16:36 -0700 Subject: [PATCH] Remove obsolete docs references to convexhull. Fixes #2912. PiperOrigin-RevId: 825679563 Change-Id: I8ee14415fb1eb64ece5cf4f3c07d016126025364 --- doc/XMLreference.rst | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 37f46e92..af1f33c2 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -1126,10 +1126,9 @@ the :ref:`geom ` element below. MuJoCo works with triangulated meshes. They can be loaded from binary STL files, OBJ files or MSH files with custom format described below, or vertex and face data specified directly in the XML. Software such as MeshLab can be used to convert from other mesh formats to STL or OBJ. While any collection of triangles can be loaded as a mesh and rendered, -collision detection works with the convex hull of the mesh as explained in :ref:`Collision`. See also the convexhull -attribute of the :ref:`compiler ` element which controls the automatic generation of convex hulls. The mesh -appearance (including texture mapping) is controlled by the :at:`material` and :at:`rgba` attributes of the referencing -geom, similarly to height fields. +collision detection works with the convex hull of the mesh as explained in :ref:`Collision`. The mesh appearance +(including texture mapping) is controlled by the :at:`material` and :at:`rgba` attributes of the referencing geom, +similarly to height fields. Meshes can have explicit texture coordinates instead of relying on the automated texture mapping mechanism. When provided, these explicit coordinates have priority. Note that texture coordinates can be @@ -1171,10 +1170,9 @@ negative scaling values can be used to flip the mesh; this is a legitimate opera referencing geoms are ignored, similarly to height fields. We also provide a mechanism to translate and rotate the 3D coordinates, using the attributes :ref:`refpos` and :ref:`refquat`. -A mesh can also be defined without faces (a point cloud essentially). In that case -the convex hull is constructed automatically, even if the compiler attribute :at:`convexhull` is -false. This makes it easy to construct simple shapes directly in the XML. For example, a pyramid can -be created as follows: +A mesh can also be defined without faces (a point cloud essentially). In that case the convex hull is constructed +automatically.This makes it easy to construct simple shapes directly in the XML. For example, a pyramid can be created +as follows: .. code-block:: xml