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Document where mesh transforms are saved, fixes #1894

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PiperOrigin-RevId: 662836678
Change-Id: I060e3b1f29e82c6c3c188e730657cda7b99f63e9
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Yuval Tassa
2024-08-14 02:23:23 -07:00
committed by Copybara-Service
parent 1141b4abbc
commit 7efd690471
1 changed files with 4 additions and 2 deletions
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doc/XMLreference.rst
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@@ -1106,7 +1106,8 @@ to convert to one of the other supported formats.
.. _legacy-msh-docs: .. _legacy-msh-docs:
MSH file format .. collapse:: Legacy MSH file format
The binary MSH file starts with 4 integers specifying the number of vertex positions (nvertex), vertex normals The binary MSH file starts with 4 integers specifying the number of vertex positions (nvertex), vertex normals
(nnormal), vertex texture coordinates (ntexcoord), and vertex indices making up the faces (nface), followed by the (nnormal), vertex texture coordinates (ntexcoord), and vertex indices making up the faces (nface), followed by the
numeric data. nvertex must be at least 4. nnormal and ntexcoord can be zero (in which case the corresponding data is numeric data. nvertex must be at least 4. nnormal and ntexcoord can be zero (in which case the corresponding data is
@@ -1190,7 +1191,8 @@ The full list of processing steps applied by the compiler to each mesh is as fol
normals. If sharp edges are encountered, the renderer uses the face normals to preserve the visual information about normals. If sharp edges are encountered, the renderer uses the face normals to preserve the visual information about
the edge, unless :ref:`smoothnormal<asset-mesh-smoothnormal>` is true. the edge, unless :ref:`smoothnormal<asset-mesh-smoothnormal>` is true.
Note that normals cannot be provided with STL meshes; Note that normals cannot be provided with STL meshes;
#. Scale, translate and rotate the vertices and normals, re-normalize the normals in case of scaling; #. Scale, translate and rotate the vertices and normals, re-normalize the normals in case of scaling. Save these
transformations in ``mjModel.mesh_{pos, quat, scale}``.
#. Construct the convex hull if specified; #. Construct the convex hull if specified;
#. Find the centroid of all triangle faces, and construct the union-of-pyramids representation. Triangles whose area is #. Find the centroid of all triangle faces, and construct the union-of-pyramids representation. Triangles whose area is
too small (below the :ref:`mjMINVAL <glNumeric>` value of 1E-14) result in compile error; too small (below the :ref:`mjMINVAL <glNumeric>` value of 1E-14) result in compile error;