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Fix bug in mesh normal scaling for nonuniform mesh scales.

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PiperOrigin-RevId: 946937791
Change-Id: I1b8a0ad4d573842ef9f76572dea25668dd319b52
This commit is contained in:
Yuval Tassa
2026-07-13 03:56:14 -07:00
committed by Copybara-Service
parent fbf031a7d5
commit f5f9d9efb7
3 changed files with 66 additions and 3 deletions
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src/user/user_mesh.cc
+4 -3
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@@ -1292,10 +1292,11 @@ void mjCMesh::ApplyTransformations(double* dvert) {
dvert[3*i + 2] *= scale[2];
}
// normals are covectors: transform by the inverse scale
for (int i = 0; i < nnormal(); i++) {
normal_[3*i + 0] *= scale[0];
normal_[3*i + 1] *= scale[1];
normal_[3*i + 2] *= scale[2];
normal_[3*i + 0] /= scale[0];
normal_[3*i + 1] /= scale[1];
normal_[3*i + 2] /= scale[2];
}
}