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Move edge creation after element reordering in mjCFlex.

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PiperOrigin-RevId: 574193046
Change-Id: If2fb01b3494d637d4b220d03e7d7d84e4a9f7a2d
This commit is contained in:
Alessio Quaglino
2023-10-17 10:27:55 -07:00
committed by Copybara-Service
parent 139a8ae298
commit 317d6d9ebe
1 changed files with 30 additions and 30 deletions
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src/user/user_mesh.cc
+30 -30
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@@ -2302,36 +2302,6 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
}
// create edges
std::vector<int> edgeidx(elem.size()*kNumEdges[dim-1]);
// map from edge vertices to their index in `edges` vector
std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
// insert local edges into global vector
for (int f = 0; f < (int)elem.size()/(dim+1); f++) {
int* v = elem.data() + f*(dim+1);
for (int e = 0; e < kNumEdges[dim-1]; e++) {
auto pair = std::pair(
std::min(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]),
std::max(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]])
);
// if edge is already present in the vector only store its index
auto [it, inserted] = edge_indices.insert({pair, nedge});
if (inserted) {
edge.push_back(pair);
edgeidx[f*kNumEdges[dim-1]+e] = nedge++;
} else {
edgeidx[f*kNumEdges[dim-1]+e] = it->second;
}
}
}
// set size
nedge = (int)edge.size();
// determine rigid if not already set
if (!rigid) {
rigid = true;
@@ -2394,6 +2364,36 @@ void mjCFlex::Compile(const mjVFS* vfs) {
}
}
// create edges
std::vector<int> edgeidx(elem.size()*kNumEdges[dim-1]);
// map from edge vertices to their index in `edges` vector
std::unordered_map<std::pair<int, int>, int, PairHash> edge_indices;
// insert local edges into global vector
for (int f = 0; f < (int)elem.size()/(dim+1); f++) {
int* v = elem.data() + f*(dim+1);
for (int e = 0; e < kNumEdges[dim-1]; e++) {
auto pair = std::pair(
std::min(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]]),
std::max(v[eledge[dim-1][e][0]], v[eledge[dim-1][e][1]])
);
// if edge is already present in the vector only store its index
auto [it, inserted] = edge_indices.insert({pair, nedge});
if (inserted) {
edge.push_back(pair);
edgeidx[f*kNumEdges[dim-1]+e] = nedge++;
} else {
edgeidx[f*kNumEdges[dim-1]+e] = it->second;
}
}
}
// set size
nedge = (int)edge.size();
// add plugins
std::string userface, useredge;
mjXUtil::Vector2String(userface, elem);