chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Do not modify mesh position when fitting a geom to the mesh AABB.

Browse Source 
Also, unify the meaning of fitting a geom to an AABB: it now means to find the smallest geom such that its AABB contains the mesh AABB.

Fixes #2881.

PiperOrigin-RevId: 817097544
Change-Id: I883c686feffa803bd16ba461db24a474dfec7712
This commit is contained in:
Alessio Quaglino
2025-10-09 03:04:14 -07:00
committed by Copybara-Service
parent 3a299c49ca
commit 98682ae284
7 changed files with 41 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/testdata/fitmesh_aabb.xml
Vendored
+5 -5
View File
@@ -22,19 +22,19 @@
<geom type="mesh" mesh="stanford_bunny"/>
</body>
<body euler="90 0 0">
<geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 1"/>
<geom name="bunny_sphere" type="sphere" mesh="stanford_bunny" rgba="1 0 1 .5"/>
</body>
<body euler="90 0 0" pos=".25 0 0">
<geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 1"/>
<geom name="bunny_capsule" type="capsule" mesh="stanford_bunny" rgba="1 0 1 .5"/>
</body>
<body euler="90 0 0" pos=".5 0 0">
<geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 1"/>
<geom name="bunny_ellipsoid" type="ellipsoid" mesh="stanford_bunny" rgba="1 0 1 .5"/>
</body>
<body euler="90 0 0" pos=".75 0 0">
<geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 1"/>
<geom name="bunny_cylinder" type="cylinder" mesh="stanford_bunny" rgba="1 0 1 .5"/>
</body>
<body euler="90 0 0" pos="1 0 0">
<geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 1"/>
<geom name="bunny_box" type="box" mesh="stanford_bunny" rgba="1 0 1 .5"/>
</body>
<light name="left" pos="0 0 1"/>
<light name="right" pos="1 0 1"/>