From 19b6c70e13a2279231e204893791cb17b551f6b5 Mon Sep 17 00:00:00 2001 From: Alessio Quaglino Date: Mon, 9 Jan 2023 08:28:44 -0800 Subject: [PATCH] Use global coordinates for computing the frame position of a primitive geom fitted to a mesh. PiperOrigin-RevId: 500720200 Change-Id: I0a564aff1fe6943002db14f46f789cfdaef4d2de --- doc/changelog.rst | 12 + doc/images/changelog/aabb.png | Bin 0 -> 118288 bytes src/user/user_mesh.cc | 23 +- test/user/testdata/fitmesh_aabb.xml | 40 + test/user/testdata/fitmesh_inertiabox.xml | 40 + test/user/testdata/stanford_bunny.obj | 7474 +++++++++++++++++++++ 6 files changed, 7576 insertions(+), 13 deletions(-) create mode 100644 doc/images/changelog/aabb.png create mode 100644 test/user/testdata/fitmesh_aabb.xml create mode 100644 test/user/testdata/fitmesh_inertiabox.xml create mode 100644 test/user/testdata/stanford_bunny.obj diff --git a/doc/changelog.rst b/doc/changelog.rst index fb542d64..69cbde38 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -4,9 +4,21 @@ Changelog Upcoming version (not yet released) ----------------------------------- + +General +^^^^^^^ + - The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better performance. +Bug fixes +^^^^^^^^^ + +- Fixed misalignment bug in mesh-to-primitive fitting when using the bounding box fitting option :at:`fitaabb`. + + .. image:: images/changelog/aabb.png + :width: 300px + Version 2.3.1 (December 6, 2022) ----------------------------------- diff --git a/doc/images/changelog/aabb.png b/doc/images/changelog/aabb.png new file mode 100644 index 0000000000000000000000000000000000000000..fa59962255bfd69f1f0644c69afcca1416963837 GIT binary patch literal 118288 zcmeFYcUzNBw>At$MY>9t2m(rn02UHTz(zz6M7orKfQWQL2{qEC2ukQJ(ve=I_g)17 z>Am-s&>_hifA`+czK`SH?-zKEhxvoa%&eKY)|6|V=UP|LYZVwR)h#MAGBR4l7th|1 zkpYCr$jFzjT_u%3or@UB$S%`aJbn7w@+s`8t(C2Vx}C9!8O+Sa%)!Fs4eSXS8TiW= zO@j|WO-5)!RjJV3KHoo?nGtk^hmk+6-VFFntP#vgt*3<1RzDwq?b@17vf#bHc#&=) z0A+l9y(xPRJxA1Q;^X?5yB#8u`tx<_Wncc2-)FFtK^Dr*s{5ri=t|4Fo~hH7#9gn| z8N|*E_18*az37>HmxON>h%65+ly3+V`SE!t<> zTg$J}oak+RXe(3fmoE7xKi4fLF(Za&U+>Ucc<33WWl`N)`;fAh@ge18cy4R9S>TjF 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0 HcmV?d00001 diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc index f4cf9fee..f2191b43 100644 --- a/src/user/user_mesh.cc +++ b/src/user/user_mesh.cc @@ -334,6 +334,9 @@ double* mjCMesh::GetQuatPtr(mjtMeshType type) { void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) { int i; + // copy mesh pos into meshpos + mjuu_copyvec(meshpos, GetPosPtr(geom->typeinertia), 3); + // use inertial box if (!model->fitaabb) { // get inertia box type (shell or volume) @@ -363,9 +366,6 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) { default: throw mjCError(this, "invalid geom type in fitting mesh %s", name.c_str()); } - - // copy mesh pos into meshpos - mjuu_copyvec(meshpos, GetPosPtr(geom->typeinertia), 3); } // use AABB @@ -385,13 +385,10 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) { // find AABB box center double cen[3] = {(AABB[0]+AABB[3])/2, (AABB[1]+AABB[4])/2, (AABB[2]+AABB[5])/2}; - // copy box center into meshpos - mjuu_copyvec(meshpos, cen, 3); - - // get AABB box half-sizes - double sz0 = AABB[3] - cen[0]; - double sz1 = AABB[4] - cen[1]; - double sz2 = AABB[5] - cen[2]; + // add box center into meshpos + meshpos[0] += cen[0]; + meshpos[1] += cen[1]; + meshpos[2] += cen[2]; // compute depending on type switch (geom->type) { @@ -440,9 +437,9 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) { case mjGEOM_ELLIPSOID: case mjGEOM_BOX: - geom->size[0] = sz0; - geom->size[1] = sz1; - geom->size[2] = sz2; + geom->size[0] = AABB[3] - cen[0]; + geom->size[1] = AABB[4] - cen[1]; + geom->size[2] = AABB[5] - cen[2]; break; default: diff --git a/test/user/testdata/fitmesh_aabb.xml b/test/user/testdata/fitmesh_aabb.xml new file mode 100644 index 00000000..18dc2499 --- /dev/null +++ b/test/user/testdata/fitmesh_aabb.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/user/testdata/fitmesh_inertiabox.xml b/test/user/testdata/fitmesh_inertiabox.xml new file mode 100644 index 00000000..38e2eebe --- /dev/null +++ b/test/user/testdata/fitmesh_inertiabox.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/user/testdata/stanford_bunny.obj b/test/user/testdata/stanford_bunny.obj new file mode 100644 index 00000000..9baeb363 --- /dev/null +++ b/test/user/testdata/stanford_bunny.obj @@ -0,0 +1,7474 @@ +# OBJ file format with ext .obj +# vertex count = 2503 +# face count = 4968 +v -3.4101800e-003 1.3031957e-001 2.1754370e-002 +v -8.1719160e-002 1.5250145e-001 2.9656090e-002 +v -3.0543480e-002 1.2477885e-001 1.0983400e-003 +v -2.4901590e-002 1.1211138e-001 3.7560240e-002 +v -1.8405680e-002 1.7843055e-001 -2.4219580e-002 +v 1.9067940e-002 1.2144925e-001 3.1968440e-002 +v 6.0412000e-003 1.2494359e-001 3.2652890e-002 +v -1.3469030e-002 1.6299355e-001 -1.2000020e-002 +v -3.4393240e-002 1.7236688e-001 -9.8213000e-004 +v -8.4314160e-002 1.0957263e-001 3.7097300e-003 +v -4.2233540e-002 1.7211574e-001 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