Add built-in hemisphere mesh.

PiperOrigin-RevId: 791148546 Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
2025-08-05 04:15:27 -07:00
parent a5a6379f83
commit 5220767457
8 changed files with 179 additions and 2 deletions
@@ -1014,6 +1014,15 @@ PYBIND11_MODULE(_specs, m) {
      },
      py::arg("resolution") = std::array<int, 2>{0, 0},
      py::arg("fov") = std::array<double, 2>{0, 0}, py::arg("gamma") = 0);
+  mjsMesh.def(
+      "make_hemisphere",
+      [](raw::MjsMesh* self, int subdivision) {
+        double params[1] = {static_cast<double>(subdivision)};
+        if (mjs_makeMesh(self, mjMESH_BUILTIN_HEMISPHERE, params, 1)) {
+          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
+        }
+      },
+      py::arg("subdivision"));
  mjsMesh.def(
      "make_cone",
      [](raw::MjsMesh* self, int nedge, double radius) {