Add `NewtonMeshCollisionAPI` with `maxHullVertices`

[andrewkaufman]

Is this a new feature, an improvement, or a change to existing functionality?

New Feature

Feature Description

NewtonMeshCollisionAPI is an extension to UsdPhysicsMeshCollisionAPI to configure Newton extensions to collision mesh approximation.

The only attribute (for now) is newton:maxHullVertices, which limits the total vertex (point) count when using convexHull approximation for the mesh. It is a single int values defautling to 64.

In Netwon this is Mesh.maxhullvert. The PhysX equivalent is physxConvexHullCollision:hullVertexLimit and the mujoco equivalent is mjc:maxhullvert

Additional context or alternatives

There was some discussion of placing this on NewtonCollisionAPI to avoid the extra API schema, but we decided to add NewtonMeshCollisionAPI for now to align with UsdPhysics, keeping approximation as a separate mesh-specific concept from the more general collision settings.

Code of Conduct

• I agree to follow newton-usd-schemas Code of Conduct
• I have searched the open issues and have found no duplicates

[andrewkaufman]

I know we just agreed to maxHullVertices, but now I'm wondering if we should rename this maxHullPoints... points vs vertices terminology in USD confuses a LOT of people and I'm pretty sure the hull limit is about what USD calls points.

Thoughts @havess @vastsoun @preist-nvidia @Milad-Rakhsha-NV?

[andrewkaufman]

I guess it is also equivalent to vertex interpolation of primvars though... Maybe maxHullVertices was fine, I take it all back 🦆

[vastsoun]

Either way, i think it makes sense as is with vertices (at lease for now), since vertices is semantically what we associate with meshes. My only 2c is that I think using Max makes more sense and is clearer than Limits.