Changing indexFormat for the imported mesh from 16 bit to 32 bit.

[vidurvij-apptronik]

I am changing the import format from 16 bit to 32 bit to support meshes with higher vertices count which is already supported in MuJoCo standalone.

https://github.com/google-deepmind/mujoco/issues/1244

[google-cla[bot]]

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[vidurvij-apptronik]

@yuvaltassa We can discuss the issue here?

[yuvaltassa]

CC @erez-tom, @Balint-H

[Balint-H]

I think this is a reasonable addition, but I'd remove the commented out block that previously checked the vertex count. I believe a good follow-up PR would add the vertex count check back in, and use the 16 bit indexing on the mesh if it is sufficient.

Also I took a look at this PR last month (sorry for the delay!) and started to investigate mesh importing a bit closer, as meshes that I'd have expected to be imported easily (based on vert counts from blender) were rejected. I need to understand it a bit more, but it seems the if the imported meshes are reexported, they have more vertices (possibly duplicates) than the original file. However, that is a separate issue from the indexing, and will be addressed in the future (potentially with your help!), and shouldn't block this PR.

Don't forget to go through the CLA process, if you haven't yet. (Look the Details section of the failed check below)

[vidurvij-apptronik]

@Balint-H The issue is that I cant sign the CLA yet. Is it possible to for you to make the change?

[Balint-H]

Hmm, what do you see when you visit this link (from the failed check's description)? https://cla.developers.google.com/clas

Or do you mean "can't" as in you have IP or other legal concerns that prevent you from signing it? If that's the case I can resubmit this PR.

[vidurvij-apptronik]

@Balint-H The latter one.

[Balint-H]

Just an update: The PR from me will come later today or tomorrow. I managed to figure out a couple of related issues first. One of these used to make .stls generated by the plugin unopenable by Blender or other graphics software (making debugging problematic). More importantly, vertex indices will be reused now, significantly reducing the mesh asset size, and allowing the use of higher res meshes with the same amount of indices. (Previously an identical vertex was stored as a brand new entry. For closed meshes this used to result in ~6 times more indices than necessary for a mesh)