Add maxhullvert attribute to mjcPhysics MeshCollisionAPI.

PiperOrigin-RevId: 781482346 Change-Id: I0d53f9ad99ac842629243b0375907b2f91bd3b61
2025-07-10 04:58:20 -07:00
parent 243c011ea0
commit e7212d86bc
9 changed files with 69 additions and 1 deletions
@@ -245,6 +245,10 @@ class "MjcMeshCollisionAPI" (
        displayName = "Inertia"
        doc = "Controls how a mesh is used when mass and inertia are inferred from geometry."
    )
+    uniform int mjc:maxhullvert = -1 (
+        displayName = "Maximum Hull Vertices"
+        doc = "Sets an upper limit on the number of vertices in the meshes convex hull. The default value of -1 means unlimited."
+    )
 }

 class "MjcActuatorAPI" (