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Remove pointers from BVH for caching in mjCMesh.

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PiperOrigin-RevId: 736849392
Change-Id: I684cca918c65718b29a1bcb41ecd6bad8d88f8f9
This commit is contained in:
Kyle Bayes
2025-03-14 07:00:23 -07:00
committed by Copybara-Service
parent f25fc63f0f
commit 1a67aaf1b7
4 changed files with 166 additions and 135 deletions
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src/user/user_model.cc
+3 -3
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@@ -2218,7 +2218,7 @@ void mjCModel::CopyTree(mjModel* m) {
memcpy(m->bvh_child + 2*bvh_adr, pb->tree.Child().data(), 2*pb->tree.Nbvh()*sizeof(int));
memcpy(m->bvh_depth + bvh_adr, pb->tree.Level().data(), pb->tree.Nbvh()*sizeof(int));
for (int i=0; i<pb->tree.Nbvh(); i++) {
m->bvh_nodeid[i + bvh_adr] = pb->tree.Nodeid(i) ? *(pb->tree.Nodeid(i)) : -1;
m->bvh_nodeid[i + bvh_adr] = pb->tree.Nodeidptr(i) ? *(pb->tree.Nodeidptr(i)) : -1;
}
}
bvh_adr += pb->tree.Nbvh();
@@ -2838,7 +2838,7 @@ void mjCModel::CopyObjects(mjModel* m) {
memcpy(m->bvh_child + 2*bvh_adr, pme->tree().Child().data(), 2*pme->tree().Nbvh()*sizeof(int));
memcpy(m->bvh_depth + bvh_adr, pme->tree().Level().data(), pme->tree().Nbvh()*sizeof(int));
for (int j=0; j<pme->tree().Nbvh(); j++) {
m->bvh_nodeid[j + bvh_adr] = pme->tree().Nodeid(j) ? *(pme->tree().Nodeid(j)) : -1;
m->bvh_nodeid[j + bvh_adr] = pme->tree().Nodeid(j) > -1 ? pme->tree().Nodeid(j) : -1;
}
}
@@ -2955,7 +2955,7 @@ void mjCModel::CopyObjects(mjModel* m) {
memcpy(m->bvh_child + 2*bvh_adr, pfl->tree.Child().data(), 2*pfl->tree.Nbvh()*sizeof(int));
memcpy(m->bvh_depth + bvh_adr, pfl->tree.Level().data(), pfl->tree.Nbvh()*sizeof(int));
for (int i=0; i<pfl->tree.Nbvh(); i++) {
m->bvh_nodeid[i+ bvh_adr] = pfl->tree.Nodeid(i) ? *(pfl->tree.Nodeid(i)) : -1;
m->bvh_nodeid[i+ bvh_adr] = pfl->tree.Nodeidptr(i) ? *(pfl->tree.Nodeidptr(i)) : -1;
}
}