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Add fields in mjModel for supporting mesh multicontact in nativeccd.

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PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
This commit is contained in:
Kyle Bayes
2025-02-19 07:11:25 -08:00
committed by Copybara-Service
parent b516edae1b
commit 7f3bb062c3
8 changed files with 166 additions and 17 deletions
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include/mujoco/mjxmacro.h
+12
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@@ -96,6 +96,9 @@
X ( nmeshtexcoord ) \
X ( nmeshface ) \
X ( nmeshgraph ) \
X ( nmeshpoly ) \
X ( nmeshpolyvert ) \
X ( nmeshpolymap ) \
XMJV( nskin ) \
XMJV( nskinvert ) \
X ( nskintexvert ) \
@@ -393,6 +396,15 @@
XNV ( int, mesh_facetexcoord, nmeshface, 3 ) \
XNV ( int, mesh_graph, nmeshgraph, 1 ) \
XMJV( int, mesh_pathadr, nmesh, 1 ) \
X ( int, mesh_polynum, nmesh, 1 ) \
X ( int, mesh_polyadr, nmesh, 1 ) \
X ( mjtNum, mesh_polynormal, nmeshpoly, 3 ) \
X ( int, mesh_polyvertadr, nmeshpoly, 1 ) \
X ( int, mesh_polyvertnum, nmeshpoly, 1 ) \
X ( int, mesh_polyvert, nmeshpolyvert, 1 ) \
X ( int, mesh_polymapadr, nmeshvert, 1 ) \
X ( int, mesh_polymapnum, nmeshvert, 1 ) \
X ( int, mesh_polymap, nmeshpolymap, 1 ) \
XMJV( int, skin_matid, nskin, 1 ) \
XMJV( int, skin_group, nskin, 1 ) \
XMJV( float, skin_rgba, nskin, 4 ) \