Add mjs_makeMesh to create a builtin mesh.

PiperOrigin-RevId: 788538127 Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:30:19 -07:00
parent 46dc67b7eb
commit 89f4789085
23 changed files with 569 additions and 649 deletions
@@ -192,6 +192,12 @@ float mjuu_normvec(float* vec, const int n) {
  return nrm;
 }

+// scale vector by scalar
+void mjuu_scalevec(double* res, const double* vec, double s, int n) {
+  for (int i = 0; i < n; i++) {
+    res[i] = s * vec[i];
+  }
+}

 // convert quaternion to rotation matrix
 void mjuu_quat2mat(double* res, const double* quat) {