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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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src/engine/engine_io.c
+9 -5
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@@ -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) \