Add mjModel.mesh_scale: scaling applied to asset vertices.

PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07

src/engine/engine_io.c

@@ -534,11 +534,15 @@ mjModel* mj_makeModel(
   m->nuser_actuator = nuser_actuator;
   m->nuser_sensor = nuser_sensor;
   m->nnames = nnames;
-  m->nnames_map = mjLOAD_MULTIPLE
-                  * (nbody + njnt + ngeom + nsite + ncam + nlight + nflex + nmesh
-                     + nskin + nhfield + ntex + nmat + npair + nexclude + neq
-                     + ntendon  + nu + nsensor + nnumeric + ntext + ntuple
-                     + nkey + nplugin);
+  long nnames_map = (long)nbody + njnt + ngeom + nsite + ncam + nlight + nflex + nmesh + nskin +
+                    nhfield + ntex + nmat + npair + nexclude + neq + ntendon + nu + nsensor +
+                    nnumeric + ntext + ntuple + nkey + nplugin;
+  if (nnames_map >= INT_MAX / mjLOAD_MULTIPLE) {
+    mju_free(m);
+    mju_warning("Invalid model: size of nnames_map is larger than INT_MAX");
+    return 0;
+  }
+  m->nnames_map = mjLOAD_MULTIPLE * nnames_map;
   m->npaths = npaths;
 
 #define X(name)                                    \

src/user/user_model.cc

@@ -2123,6 +2123,7 @@ void mjCModel::CopyObjects(mjModel* m) {
     m->mesh_graphadr[i] = (pme->szgraph() ? graph_adr : -1);
     m->mesh_bvhnum[i] = pme->tree().nbvh;
     m->mesh_bvhadr[i] = pme->tree().nbvh ? bvh_adr : -1;
+    copyvec(&m->mesh_scale[3 * i], pme->get_scale(), 3);
     copyvec(&m->mesh_pos[3 * i], pme->GetOffsetPosPtr(), 3);
     copyvec(&m->mesh_quat[4 * i], pme->GetOffsetQuatPtr(), 4);
 

src/user/user_objects.h

@@ -815,12 +815,12 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   const mjCBoundingVolumeHierarchy& tree() { return tree_; }
 
   void Compile(const mjVFS* vfs);                   // compiler
-  double* GetPosPtr(mjtGeomInertia type);              // get position
-  double* GetQuatPtr(mjtGeomInertia type);             // get orientation
+  double* GetPosPtr(mjtGeomInertia type);           // get position
+  double* GetQuatPtr(mjtGeomInertia type);          // get orientation
   double* GetOffsetPosPtr();                        // get position offset for geom
   double* GetOffsetQuatPtr();                       // get orientation offset for geom
-  double* GetInertiaBoxPtr(mjtGeomInertia type);       // get inertia box
-  double& GetVolumeRef(mjtGeomInertia type);           // get volume
+  double* GetInertiaBoxPtr(mjtGeomInertia type);    // get inertia box
+  double& GetVolumeRef(mjtGeomInertia type);        // get volume
   void FitGeom(mjCGeom* geom, double* meshpos);     // approximate mesh with simple geom
   bool HasTexcoord() const;                         // texcoord not null
   void DelTexcoord();                               // delete texcoord
@@ -852,7 +852,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
   void ApplyTransformations();                // apply user transformations
   void ComputeFaceCentroid(double[3]);        // compute centroid of all faces
   void RemoveRepeated(void);                  // remove repeated vertices
-  void CheckMesh(mjtGeomInertia type);           // check if the mesh is valid
+  void CheckMesh(mjtGeomInertia type);        // check if the mesh is valid
 
   // mesh data to be copied into mjModel
   float* vert_;                       // vertex data (3*nvert), relative to (pos, quat)