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Add built-in supertoroid mesh.

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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
This commit is contained in:
Yuval Tassa
2025-08-05 06:05:44 -07:00
committed by Copybara-Service
parent e543ba95c5
commit a5d4d1000e
13 changed files with 189 additions and 41 deletions
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src/user/user_api.cc
+29
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@@ -542,6 +542,35 @@ int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int npar
return 0;
}
case mjMESH_BUILTIN_SUPERTORUS: {
if (nparams != 4) {
m->SetError(mjCError(0, "Supertorus mesh type requires 4 parameters"));
return -1;
}
int res = static_cast<int>(params[0]);
if (res < 3) {
m->SetError(mjCError(0, "Supertorus resolution must be greater than 3"));
return -1;
}
double radius = params[1];
if (radius <= 0 || radius > 1) {
m->SetError(mjCError(0, "Supertorus radius must be in (0, 1]"));
return -1;
}
double s = params[2];
if (s <= 0) {
m->SetError(mjCError(0, "Supertorus 's' must be greater than 0"));
return -1;
}
double t = params[3];
if (t <= 0) {
m->SetError(mjCError(0, "Supertorus 't' must be greater than 0"));
return -1;
}
meshC->MakeSupertorus(res, radius, s, t);
return 0;
}
case mjMESH_BUILTIN_WEDGE: {
if (nparams != 5) {
m->SetError(mjCError(0, "Wedge builtin mesh types require 5 parameters"));