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Removing redundant range calculations

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This commit is contained in:
Abhishek Joshi
2023-09-21 16:20:08 -05:00
parent deb8a8e2e2
commit 1e06a554e5
3 changed files with 39 additions and 24 deletions
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python/mujoco/usd_renderer.py
+15 -14
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@@ -53,11 +53,12 @@ class USDRenderer(object):
Loads and initializes the necessary objects to render the scene
"""
if self.model.nmesh > 0:
mesh_vertex_ranges = get_mesh_ranges(self.model.nmesh, self.model.mesh_vertnum)
mesh_face_ranges = get_mesh_ranges(self.model.nmesh, self.model.mesh_facenum)
mesh_texcoord_ranges = get_mesh_ranges(self.model.nmesh, self.model.mesh_texcoordnum)
mesh_facetexcoord_ranges = get_facetexcoord_ranges(self.model.nmesh, self.model.mesh_facenum)
# TODO: remove these and replace by reading directly from model
# if self.model.nmesh > 0:
# mesh_vertex_ranges = get_mesh_ranges(self.model.nmesh, self.model.mesh_vertnum)
# mesh_face_ranges = get_mesh_ranges(self.model.nmesh, self.model.mesh_facenum)
# mesh_texcoord_ranges = get_mesh_ranges(self.model.nmesh, self.model.mesh_texcoordnum)
# mesh_facetexcoord_ranges = get_facetexcoord_ranges(self.model.nmesh, self.model.mesh_facenum)
# create and load the texture files
# iterate through all the textures and build list of tex_rgb ranges
@@ -83,23 +84,23 @@ class USDRenderer(object):
geoms = self.scene.geoms
self.ngeom = self.scene.ngeom
for i in range(self.ngeom):
if geoms[i].texid == -1:
geom = geoms[i]
if geom.category == 1:
self.usd_geoms.append(None)
continue
if geom.texid == -1:
texture_file = None
else:
texture_file = texture_files[geoms[i].texid]
texture_file = texture_files[geom.texid]
if geoms[i].type == USDGeomType.Mesh.value:
if geom.type == USDGeomType.Mesh.value:
self.usd_geoms.append(USDMesh(self.model.geom_dataid[i],
geoms[i],
geom,
self.stage,
self.model,
mesh_vertex_ranges,
mesh_face_ranges,
mesh_texcoord_ranges,
mesh_facetexcoord_ranges,
texture_file))
else:
self.usd_geoms.append(create_usd_geom_primitive(geoms[i],
self.usd_geoms.append(create_usd_geom_primitive(geom,
self.stage,
texture_file))