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Add maxhullvert.

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PiperOrigin-RevId: 641092710
Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
This commit is contained in:
Baruch Tabanpour
2024-06-06 19:04:21 -07:00
committed by Copybara-Service
parent fb8bf206d9
commit ace0c8f0a3
11 changed files with 86 additions and 10 deletions
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doc/XMLreference.rst
+9
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@@ -1233,6 +1233,13 @@ The full list of processing steps applied by the compiler to each mesh is as fol
faces at large angles relative to the average normal are excluded from the average. In this way, sharp edges (as in
cube edges) are not smoothed.
.. _asset-mesh-maxhullvert:
:at:`maxhullvert`: :at-val:`int, "-1"`
Maximum number of vertices in a mesh's convex hull. Currently this is implemented by asking qhull
`to teminate <http://www.qhull.org/html/qh-optt.htm#TAn>`__ after :at:`maxhullvert` vertices. The default
value of -1 means "unlimited". Positive values must be larger than 3.
.. _asset-mesh-vertex:
:at:`vertex`: :at-val:`real(3*nvert), optional`
@@ -7666,6 +7673,8 @@ if omitted.
.. _default-mesh-scale:
.. _default-mesh-maxhullvert:
:el-prefix:`default/` |-| **mesh** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
doc/XMLschema.rst
+3 -1
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@@ -103,6 +103,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`refpos<asset-mesh-refpos>` | :ref:`refquat<asset-mesh-refquat>` | :ref:`scale<asset-mesh-scale>` | :ref:`smoothnormal<asset-mesh-smoothnormal>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`maxhullvert<asset-mesh-maxhullvert>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| mesh |br| |_2| |L| | | .. table:: |
| :ref:`plugin | \* | :class: mjcf-attributes |
@@ -1325,7 +1327,7 @@
| :ref:`mesh | ? | :class: mjcf-attributes |
| <default-mesh>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`scale<default-mesh-scale>` | | | | |
| | | | :ref:`scale<default-mesh-scale>` | :ref:`maxhullvert<default-mesh-maxhullvert>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |
doc/changelog.rst
+9
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@@ -2,6 +2,15 @@
Changelog
=========
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
1. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
Version 3.1.6 (Jun 3, 2024)
---------------------------