Add maxhullvert.

PiperOrigin-RevId: 641092710 Change-Id: Ib4fa828a9c82531614f0a67de9990340dbb25406
2024-06-06 19:04:21 -07:00
parent fb8bf206d9
commit ace0c8f0a3
11 changed files with 86 additions and 10 deletions
@@ -778,6 +778,7 @@ class mjCMesh_ : public mjCBase {
  // size of mesh data to be copied into mjModel
  int szgraph_;                       // size of graph data in ints
  bool needhull_;                     // needs convex hull for collisions
+  int maxhullvert_;                   // max vertex count of convex hull

  mjCBoundingVolumeHierarchy tree_;   // bounding volume hierarchy
  std::vector<double> face_aabb_;     // bounding boxes of all faces