Hello, I have a model in xml file which contains a mesh. I would like to rescale this mesh after the model is loaded (similarly as one can resize e.g. box geoms). Is there any way to do it?
Mesh scaling is done by the XML parser and model compiler. You could also do it programmatically at runtime, by modifying the vertex coordinates in mjModel.mesh_vert and mesh_normal. If you do that however, make sure to call mjr_updateMesh to tell the GPU that the mesh has changed; or just call mjr_makeContext to reset the rendering context (this is slower though).