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Adds built-in superellipsoid mesh.

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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
This commit is contained in:
Yuval Tassa
2025-08-05 07:01:52 -07:00
committed by Copybara-Service
parent e74cee652f
commit 705ec6d7fb
12 changed files with 253 additions and 137 deletions
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src/user/user_api.cc
+24
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@@ -542,6 +542,30 @@ int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int npar
return 0;
}
case mjMESH_BUILTIN_SUPERSPHERE: {
if (nparams != 3) {
m->SetError(mjCError(0, "Supersphere mesh type requires 3 parameters"));
return -1;
}
int res = static_cast<int>(params[0]);
if (res < 3) {
m->SetError(mjCError(0, "Supersphere resolution must be greater than 2"));
return -1;
}
double e = params[1];
if (e < 0) {
m->SetError(mjCError(0, "Supersphere 'e' cannot be negative"));
return -1;
}
double n = params[2];
if (n < 0) {
m->SetError(mjCError(0, "Supersphere 'n' cannot be negative"));
return -1;
}
meshC->MakeSupersphere(res, e, n);
return 0;
}
case mjMESH_BUILTIN_SUPERTORUS: {
if (nparams != 4) {
m->SetError(mjCError(0, "Supertorus mesh type requires 4 parameters"));