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Modify mjCMesh vert_ field to be vector<float> instead of vector<double>.

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PiperOrigin-RevId: 882162404
Change-Id: Ia97439420f284d594f5cb1a91cd0fb640ac8dff0
This commit is contained in:
Sam Haves
2026-03-11 13:14:35 -07:00
committed by Copybara-Service
parent de3b9d3426
commit 3601b063dc
4 changed files with 131 additions and 120 deletions
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src/user/user_objects.cc
+3
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@@ -587,6 +587,7 @@ void mjCOctree::CopyCoeff(mjtNum* coeff) const {
void mjCOctree::SetFace(const std::vector<double>& vert, const std::vector<int>& face) {
face_.reserve(face.size()/3);
for (int i = 0; i < face.size(); i += 3) {
std::array<double, 3> v0 = {vert[3*face[i+0]], vert[3*face[i+0]+1], vert[3*face[i+0]+2]};
std::array<double, 3> v1 = {vert[3*face[i+1]], vert[3*face[i+1]+1], vert[3*face[i+1]+2]};
@@ -613,6 +614,8 @@ void mjCOctree::Make(std::vector<Triangle>& elements) {
void mjCOctree::CreateOctree(const double aamm[6]) {
Clear();
double aabb[6] = {(aamm[0] + aamm[3]) / 2, (aamm[1] + aamm[4]) / 2, (aamm[2] + aamm[5]) / 2,
(aamm[3] - aamm[0]) / 2, (aamm[4] - aamm[1]) / 2, (aamm[5] - aamm[2]) / 2};
double box[6] = {aabb[0] - 1.1 * aabb[3], aabb[1] - 1.1 * aabb[4], aabb[2] - 1.1 * aabb[5],