Raise error if mesh has flipped faces.

PiperOrigin-RevId: 461860424 Change-Id: Ib23c50cf7f64de1173404d2f65ad87177fab45b3
2022-07-19 05:47:08 -07:00
parent e6480c76a9
commit 8dd9971409
6 changed files with 95 additions and 14 deletions
@@ -0,0 +1,9 @@
+v 0 0 0
+v 1 0 0
+v 0 1 0
+v 0 0 1
+f 3 1 4
+f 1 2 4
+f 2 3 4
+# malformed face
+f 1 2 3
@@ -0,0 +1,8 @@
+<mujoco>
+  <asset>
+    <mesh file="malformed_face.obj"/>
+  </asset>
+  <worldbody>
+    <geom type="mesh" mesh="malformed_face"/>
+  </worldbody>
+</mujoco>