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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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unity/Runtime/Bindings/MjBindings.cs
+12
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@@ -5208,6 +5208,9 @@ public unsafe struct mjModel_ {
public int nmeshtexcoord;
public int nmeshface;
public int nmeshgraph;
public int nmeshpoly;
public int nmeshpolyvert;
public int nmeshpolymap;
public int nskin;
public int nskinvert;
public int nskintexvert;
@@ -5480,6 +5483,15 @@ public unsafe struct mjModel_ {
public double* mesh_pos;
public double* mesh_quat;
public int* mesh_pathadr;
public int* mesh_polynum;
public int* mesh_polyadr;
public double* mesh_polynormal;
public int* mesh_polyvertadr;
public int* mesh_polyvertnum;
public int* mesh_polyvert;
public int* mesh_polymapadr;
public int* mesh_polymapnum;
public int* mesh_polymap;
public int* skin_matid;
public int* skin_group;
public float* skin_rgba;