From 623201ec76cdfd52d8ceced9d5f81a309ee88af1 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 8 Dec 2023 05:40:26 -0800
Subject: [PATCH] Throw error if scale attribute is used with an SDF.

Fixes #1210.

PiperOrigin-RevId: 589101807
Change-Id: I3f2796de3438fbcdaf9221bddc5c9bd82aedb7cb
---
 src/user/user_mesh.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index cc2536bf..edd36263 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -296,6 +296,11 @@ void mjCMesh::LoadSDF() {
         name.c_str(), id);
   }
 
+  if (scale_[0] != 1 || scale_[1] != 1 || scale_[2] != 1) {
+    throw mjCError(this, "attribute scale is not compatible with SDFs in mesh '%s', (id = %d)",
+                   name.c_str(), id);
+  }
+
   model->ResolvePlugin(this, plugin_name, plugin_instance_name, &plugin_instance);
   const mjpPlugin* plugin = mjp_getPluginAtSlot(plugin_instance->plugin_slot);
   if (!(plugin->capabilityflags & mjPLUGIN_SDF)) {