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Add mjModel.mesh_scale: scaling applied to asset vertices.

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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
This commit is contained in:
Yuval Tassa
2024-04-15 14:25:04 -07:00
committed by Copybara-Service
parent 9f1651b7bd
commit 7b3f1a0261
10 changed files with 61 additions and 10 deletions
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include/mujoco/mjmodel.h
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@@ -880,6 +880,7 @@ 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)
include/mujoco/mjxmacro.h
+1
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@@ -365,6 +365,7 @@
XMJV( int, mesh_bvhadr, nmesh, 1 ) \
XMJV( int, mesh_bvhnum, nmesh, 1 ) \
XMJV( int, mesh_graphadr, nmesh, 1 ) \
X ( mjtNum, mesh_scale, nmesh, 3 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \
X ( mjtNum, mesh_quat, nmesh, 4 ) \
X ( float, mesh_vert, nmeshvert, 3 ) \