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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/user/user_model.cc
+1
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@@ -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);