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Add built-in cone mesh type.

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Also delete `prism` type since it is subsumed by cone.

PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
This commit is contained in:
Yuval Tassa
2025-08-04 19:34:35 -07:00
committed by Copybara-Service
parent 4a91c34239
commit a5a6379f83
13 changed files with 167 additions and 111 deletions
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src/user/user_api.cc
+55 -52
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@@ -505,62 +505,65 @@ mjsMaterial* mjs_addMaterial(mjSpec* s, const mjsDefault* defspec) {
int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int nparams) {
mjCMesh* meshC = static_cast<mjCMesh*>(mesh->element);
mjCModel* m = meshC->model;
if (builtin == mjMESH_BUILTIN_WEDGE) {
if (nparams != 5) {
m->SetError(mjCError(0, "Wedge builtin mesh types require 5 parameters"));
return -1;
switch (builtin) {
case mjMESH_BUILTIN_WEDGE: {
if (nparams != 5) {
m->SetError(mjCError(0, "Wedge builtin mesh types require 5 parameters"));
return -1;
}
int resolution[2] = {static_cast<int>(params[0]),
static_cast<int>(params[1])};
double fov[2] = {params[2], params[3]};
double gamma = params[4];
if (fov[0] <= 0 || fov[0] > 180) {
m->SetError(mjCError(0, "fov[0] must be a float between (0, 180] degrees"));
return -1;
}
if (fov[1] <= 0 || fov[1] > 90) {
m->SetError(mjCError(0, "`fov[1]` must be a float between (0, 90] degrees"));
return -1;
}
if (resolution[0] <= 0 || resolution[1] <= 0) {
m->SetError(mjCError(0, "Horizontal and vertical resolutions must be positive"));
return -1;
}
if (gamma < 0 || gamma > 1) {
m->SetError(mjCError(0, "`gamma` must be a nonnegative float between [0, 1]"));
return -1;
}
meshC->MakeWedge(resolution, fov, gamma);
return 0;
}
int resolution[2] = {static_cast<int>(params[0]),
static_cast<int>(params[1])};
double fov[2] = {params[2], params[3]};
double gamma = params[4];
if (fov[0] <= 0 || fov[0] > 180) {
m->SetError(
mjCError(0, "fov[0] must be a float between (0, 180] degrees"));
return -1;
case mjMESH_BUILTIN_PLATE: {
if (nparams != 2) {
m->SetError(mjCError(0, "Plate builtin mesh type requires 2 parameters"));
return -1;
}
int resolution[2] = {static_cast<int>(params[0]),
static_cast<int>(params[1])};
if (resolution[0] <= 0 || resolution[1] <= 0) {
m->SetError(mjCError(0, "Horizontal and vertical resolutions must be positive"));
return -1;
}
meshC->MakeRect(resolution);
return 0;
}
if (fov[1] <= 0 || fov[1] > 90) {
m->SetError(
mjCError(0, "`fov[1]` must be a float between (0, 90] degrees"));
return -1;
case mjMESH_BUILTIN_CONE: {
if (nparams != 2) {
m->SetError(mjCError(0, "Cone mesh type requires 2 parameters"));
return -1;
}
int nedge = static_cast<int>(params[0]);
meshC->MakeCone(nedge, params[1]);
return 0;
}
if (resolution[0] <= 0 || resolution[1] <= 0) {
m->SetError(
mjCError(0, "Horizontal and vertical resolutions must be positive"));
return -1;
}
if (gamma < 0 || gamma > 1) {
m->SetError(
mjCError(0, "`gamma` must be a nonnegative float between [0, 1]"));
return -1;
}
meshC->MakeWedge(resolution, fov, gamma);
return 0;
} else if (builtin == mjMESH_BUILTIN_PLATE) {
if (nparams != 2) {
m->SetError(mjCError(0, "Plate builtin mesh type requires 2 parameters"));
return -1;
}
int resolution[2] = {static_cast<int>(params[0]),
static_cast<int>(params[1])};
if (resolution[0] <= 0 || resolution[1] <= 0) {
m->SetError(
mjCError(0, "Horizontal and vertical resolutions must be positive"));
return -1;
}
meshC->MakeRect(resolution);
return 0;
} else if (builtin == mjMESH_BUILTIN_PRISM) {
if (nparams != 1) {
m->SetError(mjCError(0, "Prism mesh type requires 1 parameter"));
return -1;
}
int nedge = static_cast<int>(params[0]);
meshC->MakePrism(nedge);
return 0;
default:
m->SetError(mjCError(0, "Unsupported mesh type"));
return 1;
}
m->SetError(mjCError(0, "Unsupported mesh type"));
return 1;
}
// add pair to model