Add maxhullvert attribute to mjcPhysics MeshCollisionAPI.

PiperOrigin-RevId: 781482346
Change-Id: I0d53f9ad99ac842629243b0375907b2f91bd3b61

include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h

@@ -40,7 +40,7 @@ class SdfAssetPath;
 
 /// \class MjcPhysicsMeshCollisionAPI
 ///
-/// API describing a Mujoco mesh collider.
+/// API describing a MuJoCo mesh collider.
 ///
 /// For any described attribute \em Fallback \em Value or \em Allowed \em Values
 /// below that are text/tokens, the actual token is published and defined in
@@ -173,6 +173,31 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
   UsdAttribute CreateInertiaAttr(VtValue const &defaultValue = VtValue(),
                                  bool writeSparsely = false) const;
 
+ public:
+  // --------------------------------------------------------------------- //
+  // MAXHULLVERT
+  // --------------------------------------------------------------------- //
+  /// Sets an upper limit on the number of vertices in the meshes convex hull.
+  /// The default value of -1 means unlimited.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `uniform int mjc:maxhullvert = -1` |
+  /// | C++ Type | int |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
+  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
+  MJCPHYSICS_API
+  UsdAttribute GetMaxHullVertAttr() const;
+
+  /// See GetMaxHullVertAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMaxHullVertAttr(VtValue const &defaultValue = VtValue(),
+                                     bool writeSparsely = false) const;
+
  public:
   // ===================================================================== //
   // Feel free to add custom code below this line, it will be preserved by

include/mujoco/experimental/usd/mjcPhysics/tokens.h

@@ -356,6 +356,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsJointAPI
   const TfToken mjcMargin;
+  /// \brief "mjc:maxhullvert"
+  ///
+  /// MjcPhysicsMeshCollisionAPI
+  const TfToken mjcMaxhullvert;
   /// \brief "mjc:mpos"
   ///
   /// MjcPhysicsKeyframe