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Auto-generate 3D mesh from convex OBJ if dim=3 in flex.

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This requires the user to explicitly specify an origin.

PiperOrigin-RevId: 712483526
Change-Id: Ie316a5eccb676bb918d4bb746795019145c10f5b
This commit is contained in:
Alessio Quaglino
2025-01-06 04:34:49 -08:00
committed by Copybara-Service
parent 65048d6b8f
commit ee6f4837f3
8 changed files with 747 additions and 22 deletions
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doc/XMLreference.rst
+7
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@@ -3632,6 +3632,13 @@ saving the XML:
These attributes are directly passed through to the automatically-generated :ref:`flex<deformable-flex>` object and
have the same meaning.
.. _body-flexcomp-origin:
:at:`origin`: :at-val:`real(3), "0 0 0"`
The origin of the flexcomp. Used for generating a volumetric mesh from an OBJ surface mesh. Each surface triangle is
connected to the origin to create a tetrahedron, so the resulting volumetric mesh is guaranteed to be well-formed
only for convex shapes.
.. _flexcomp-contact:
:el-prefix:`flexcomp/` |-| **contact** (*)
doc/XMLschema.rst
+2
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@@ -445,6 +445,8 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`axisangle<body-flexcomp-axisangle>` | :ref:`xyaxes<body-flexcomp-xyaxes>` | :ref:`zaxis<body-flexcomp-zaxis>` | :ref:`euler<body-flexcomp-euler>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`origin<body-flexcomp-origin>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| flexcomp |br| |_2| |L| | | .. table:: |
| :ref:`edge | ? | :class: mjcf-attributes |