Imported objects configurable scaling

[aclegg3]

Motivation and Context

This change allows non-uniform scaling of objects via configuration of an object's template in ResourceManager::physicsObjectLibrary_.

This will allow users to load a single object template and spawn multiple instances with varying scales into the scene.

Note: negative scales are allowed, tested, and stable. Visually, this can invert the mesh normals, allowing the camera to see through the surface of the object due to back-face culling. I didn't restrict this since it could be considered a feature (e.g. invert the scale to see inside a shape from the outside).

How Has This Been Tested

New C++ CI test.
Local testing in viewer:

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[dhruvbatra]

Will be useful for domain randomization.

Also, it's raining cheeseboxes :-).

[msbaines]

The physics config parsing code is getting large enough that it may be time to pull it out of ResourceManager.cpp. We may also want to consider writing a code generator since the code is all following the same template.

[aclegg3]

The physics config parsing code is getting large enough that it may be time to pull it out of ResourceManager.cpp. We may also want to consider writing a code generator since the code is all following the same template.

Great point, I was thinking the same thing while writing this code. 😄