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Add built-in sphere mesh.

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PiperOrigin-RevId: 791162850
Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
This commit is contained in:
Yuval Tassa
2025-08-05 05:04:11 -07:00
committed by Copybara-Service
parent 5220767457
commit 996f0040fd
8 changed files with 165 additions and 8 deletions
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src/user/user_api.cc
+18
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@@ -524,6 +524,24 @@ int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int npar
return 0;
}
case mjMESH_BUILTIN_SPHERE: {
if (nparams != 1) {
m->SetError(mjCError(0, "Sphere mesh type requires 1 parameter"));
return -1;
}
int subdiv = static_cast<int>(params[0]);
if (subdiv < 0) {
m->SetError(mjCError(0, "Sphere subdivision cannot be negative"));
return -1;
}
if (subdiv > 4) {
m->SetError(mjCError(0, "Sphere subdivision cannot be greater than 4"));
return -1;
}
meshC->MakeSphere(subdiv, /*make_faces*/ true);
return 0;
}
case mjMESH_BUILTIN_WEDGE: {
if (nparams != 5) {
m->SetError(mjCError(0, "Wedge builtin mesh types require 5 parameters"));