Adds built-in superellipsoid mesh.

PiperOrigin-RevId: 791196831 Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
2025-08-05 07:01:52 -07:00
parent e74cee652f
commit 705ec6d7fb
12 changed files with 253 additions and 137 deletions
@@ -1041,6 +1041,15 @@ PYBIND11_MODULE(_specs, m) {
        }
      },
      py::arg("nedge"), py::arg("radius"));
+  mjsMesh.def(
+      "make_supersphere",
+      [](raw::MjsMesh* self, int resolution, double e, double n) {
+        double params[3] = {static_cast<double>(resolution), e, n};
+        if (mjs_makeMesh(self, mjMESH_BUILTIN_SUPERSPHERE, params, 3)) {
+          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
+        }
+      },
+      py::arg("resolution"), py::arg("e"), py::arg("n"));
  mjsMesh.def(
      "make_supertorus",
      [](raw::MjsMesh* self, int resolution, double radius, double s,