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mesh_shape.sdf
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mesh_shape.sdf
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<element name="mesh" required="0">
<description>Mesh shape</description>
<attribute name="optimization" type="string" default="" required="0">
<description>
Set whether to optimize the mesh using one of the specified methods. Values include: "convex_hull" - a single convex hull that encapsulates the mesh, "convex_decomposition" - decompose the mesh into multiple convex hull meshes. Default value is an empty string which means no mesh optimization.
</description>
</attribute>
<element name="convex_decomposition" required="0">
<description>Convex decomposition parameters. Applicable if the mesh optimization attribute is set to convex_decomposition</description>
<element name="max_convex_hulls" type="unsigned int" default="16" required="0">
<description>Maximum number of convex hulls to decompose into. This sets the maximum number of submeshes that the final decomposed mesh will contain.</description>
</element>
<element name="voxel_resolution" type="unsigned int" default="200000" required="0">
<description>The number of voxels to use for representing the source mesh before decomposition. Applicable only to voxel based convex decomposition methods.</description>
</element>
</element>
<element name="uri" type="string" default="__default__" required="1">
<description>Mesh uri</description>
</element>
<element name="submesh" required="0">
<description>Use a named submesh. The submesh must exist in the mesh specified by the uri</description>
<element name="name" type="string" default="__default__" required="1">
<description>Name of the submesh within the parent mesh</description>
</element>
<element name="center" type="bool" default="false" required="0">
<description>Set to true to center the vertices of the submesh at 0,0,0. This will effectively remove any transformations on the submesh before the poses from parent links and models are applied.</description>
</element>
</element> <!-- End submesh -->
<element name="scale" type="vector3" default="1 1 1" required="0">
<description>Scaling factor applied to the mesh</description>
</element>
</element>