chenlin/Mujoco_WASM
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Remove box, cylinder and ellipsoid composite types.

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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013.

PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
This commit is contained in:
Alessio Quaglino
2024-11-02 11:13:16 -07:00
committed by Copybara-Service
parent ebe60b9ad5
commit 831d9881d3
12 changed files with 54 additions and 547 deletions
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test/engine/testdata/skingroup.xml
Vendored
+4 -6
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@@ -27,17 +27,15 @@
<geom type="box" size=".5 .5 .1"/>
</body>
<body pos="1 -1 .6">
<freejoint/>
<composite prefix="B0" type="box" count="4 4 4" spacing=".2">
<composite prefix="B0" type="grid" count="4 4 1" spacing=".2">
<geom group="4" size=".1"/>
<skin rgba="1 1 0 1" group="2"/>
<skin rgba="1 1 0 1" group="2" inflate=".1"/>
</composite>
</body>
<body pos="-1 1 .6">
<freejoint/>
<composite prefix="B1" type="box" count="4 4 4" spacing=".2">
<composite prefix="B1" type="grid" count="4 4 1" spacing=".2">
<geom group="2" size=".1"/>
<skin rgba="0 1 1 1" group="4"/>
<skin rgba="0 1 1 1" group="4" inflate=".1"/>
</composite>
</body>
</worldbody>