Store skin and flex meshes separately.

PiperOrigin-RevId: 919490079
Change-Id: I45473ee59e22465732fb4b470a94c2944fed9c37

src/experimental/filament/compat/model_objects.cc

@@ -599,7 +599,13 @@ void ModelObjects::CreateSkinFlexMesh(const mjvScene* scene, const mjvGeom& geom
   mjrMeshData data;
   mjr_defaultMeshData(&data);
   UpdateSkinFlexMeshData(&data, model_, scene, geom);
-  dynamic_meshes_.insert_or_assign(geom.objid, CreateMesh(ctx_, data));
+  if (geom.type == mjGEOM_FLEX) {
+    flexes_.insert_or_assign(geom.objid, CreateMesh(ctx_, data));
+  } else if (geom.type == mjGEOM_SKIN) {
+    skins_.insert_or_assign(geom.objid, CreateMesh(ctx_, data));
+  } else {
+    mju_error("Unsupported dynamic mesh type: %d", geom.type);
+  }
 }
 
 const mjrMesh* ModelObjects::GetMesh(int data_id) const {
@@ -624,11 +630,19 @@ const mjrMesh* ModelObjects::GetHeightField(int hfield_id) const {
   return nullptr;
 }
 
-const mjrMesh* ModelObjects::GetFlexSkinMesh(int geom_id) const {
-  if (auto it = dynamic_meshes_.find(geom_id); it != dynamic_meshes_.end()) {
+const mjrMesh* ModelObjects::GetFlexMesh(int geom_id) const {
+  if (auto it = flexes_.find(geom_id); it != flexes_.end()) {
     return it->second.get();
   }
-  mju_error("Unknown dynamic mesh %d", geom_id);
+  mju_error("Unknown flex mesh %d", geom_id);
+  return nullptr;
+}
+
+const mjrMesh* ModelObjects::GetSkinMesh(int geom_id) const {
+  if (auto it = skins_.find(geom_id); it != skins_.end()) {
+    return it->second.get();
+  }
+  mju_error("Unknown skin mesh %d", geom_id);
   return nullptr;
 }
 

src/experimental/filament/compat/model_objects.h

@@ -40,7 +40,8 @@ class ModelObjects {
   // Returns the cached instance of a filament object created from the mjModel.
   const mjrMesh* GetMesh(int data_id) const;
   const mjrMesh* GetHeightField(int hfield_id) const;
-  const mjrMesh* GetFlexSkinMesh(int geom_id) const;
+  const mjrMesh* GetSkinMesh(int geom_id) const;
+  const mjrMesh* GetFlexMesh(int geom_id) const;
   const mjrTexture* GetTexture(int tex_id) const;
   const mjrTexture* GetSkyboxTexture() const;
 
@@ -59,7 +60,8 @@ class ModelObjects {
   std::unordered_map<int, UniquePtr<mjrMesh>> meshes_;
   std::unordered_map<int, UniquePtr<mjrMesh>> convex_hulls_;
   std::unordered_map<int, UniquePtr<mjrMesh>> height_fields_;
-  std::unordered_map<int, UniquePtr<mjrMesh>> dynamic_meshes_;
+  std::unordered_map<int, UniquePtr<mjrMesh>> skins_;
+  std::unordered_map<int, UniquePtr<mjrMesh>> flexes_;
   std::unordered_map<int, UniquePtr<mjrTexture>> textures_;
   float specular_multiplier_ = 0.2f;
   float shininess_multiplier_ = 0.1f;

src/experimental/filament/compat/scene_geom_util.cc

@@ -130,7 +130,7 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
       mjrf_setRenderableSize(renderable, geom.size);
       break;
     case mjGEOM_FLEX:
-      mjrf_setRenderableMesh(renderable, model_objs->GetFlexSkinMesh(geom.objid), 0, 0);
+      mjrf_setRenderableMesh(renderable, model_objs->GetFlexMesh(geom.objid), 0, 0);
       // Flexes are defined in global space.
       std::memset(position, 0, sizeof(position));
       std::memset(rotation, 0, sizeof(rotation));
@@ -139,7 +139,7 @@ static void PrepareGeomMeshes(mjrRenderable* renderable, const mjvGeom& geom,
       rotation[8] = 1.f;
       break;
     case mjGEOM_SKIN:
-      mjrf_setRenderableMesh(renderable, model_objs->GetFlexSkinMesh(geom.objid), 0, 0);
+      mjrf_setRenderableMesh(renderable, model_objs->GetSkinMesh(geom.objid), 0, 0);
       // Skins are defined in global space.
       std::memset(position, 0, sizeof(position));
       std::memset(rotation, 0, sizeof(rotation));