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Correct polygon winding order for all meshes not only when loaded from a file.

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PiperOrigin-RevId: 882053060
Change-Id: I94ee81838fa4074a1a890de4f282eca45ee9e820
This commit is contained in:
Sam Haves
2026-03-11 09:24:44 -07:00
committed by Copybara-Service
parent db9ab94555
commit ecc22667fa
2 changed files with 79 additions and 13 deletions
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src/user/user_mesh.cc
+14 -13
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@@ -647,19 +647,6 @@ void mjCMesh::LoadFromDecoder(mjResource* resource, bool remove_repeated) {
facenormal_.assign(src_mesh->userfacenormal->begin(), src_mesh->userfacenormal->end());
facetexcoord_.assign(src_mesh->userfacetexcoord->begin(), src_mesh->userfacetexcoord->end());
// correct winding order for left-handed coordinate systems
bool righthand = scale[0] * scale[1] * scale[2] > 0;
if (!righthand) {
for (size_t i = 0; i < face_.size(); i += 3) {
std::swap(face_[i + 1], face_[i + 2]);
}
for (size_t i = 0; i < facenormal_.size(); i += 3) {
std::swap(facenormal_[i + 1], facenormal_[i + 2]);
}
for (size_t i = 0; i < facetexcoord_.size(); i += 3) {
std::swap(facetexcoord_[i + 1], facetexcoord_[i + 2]);
}
}
std::vector<float> vert(src_mesh->uservert->begin(), src_mesh->uservert->end());
mj_deleteSpec(mesh_spec);
@@ -1434,6 +1421,20 @@ void mjCMesh::Process() {
polygon_map_.resize(nvert());
}
// correct winding order for left-handed coordinate systems
bool righthand = scale[0] * scale[1] * scale[2] > 0;
if (!righthand) {
for (size_t i = 0; i < face_.size(); i += 3) {
std::swap(face_[i + 1], face_[i + 2]);
}
for (size_t i = 0; i < facenormal_.size(); i += 3) {
std::swap(facenormal_[i + 1], facenormal_[i + 2]);
}
for (size_t i = 0; i < facetexcoord_.size(); i += 3) {
std::swap(facetexcoord_[i + 1], facetexcoord_[i + 2]);
}
}
// user offset, rotation, scaling
ApplyTransformations();