Add mjModel.mesh_scale: scaling applied to asset vertices.

PiperOrigin-RevId: 625083195 Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
2024-04-15 14:25:04 -07:00
parent 9f1651b7bd
commit 7b3f1a0261
10 changed files with 61 additions and 10 deletions
@@ -2,6 +2,15 @@
 Changelog
 =========

+Upcoming version (not yet released)
+-----------------------------------
+
+General
+^^^^^^^
+1. Added `mjModel.mesh_scale`: the scaling applied to asset vertices, as specified in the :ref:`scale<asset-mesh-scale>`
+   attribute.
+
+
 Version 3.1.4 (April 10th, 2024)
 --------------------------------

@@ -1165,6 +1165,7 @@ struct mjModel_ {
  int*      mesh_facenormal;      // normal face data                         (nmeshface x 3)
  int*      mesh_facetexcoord;    // texture face data                        (nmeshface x 3)
  int*      mesh_graph;           // convex graph data                        (nmeshgraph x 1)
+  mjtNum*   mesh_scale;           // scaling applied to asset vertices        (nmesh x 3)
  mjtNum*   mesh_pos;             // translation applied to asset vertices    (nmesh x 3)
  mjtNum*   mesh_quat;            // rotation applied to asset vertices       (nmesh x 4)
  int*      mesh_pathadr;         // address of asset path for mesh; -1: none (nmesh x 1)