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
@@ -360,6 +360,10 @@ class ModelWriter {

      WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Token,
                            MjcPhysicsTokens->mjcInertia, inertia);
+
+      WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Int,
+                            MjcPhysicsTokens->mjcMaxhullvert,
+                            mesh->maxhullvert);
    }

    // NOTE: The geometry data taken from the spec is the post-compilation