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Restructure mjCMesh for caching.

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PiperOrigin-RevId: 662496475
Change-Id: I4c3a58a63ef2c3b1196b3e6b30eb556b5528ff7f
This commit is contained in:
Kyle Bayes
2024-08-13 06:39:49 -07:00
committed by Copybara-Service
parent 4ebf381b4d
commit 39896f8064
5 changed files with 114 additions and 111 deletions
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src/user/user_model.cc
+7 -7
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@@ -1310,7 +1310,7 @@ void mjCModel::SetDefaultNames(std::vector<T*>& assets) {
for (int i=0; i<assets.size(); i++) {
assets[i]->CopyFromSpec();
if (assets[i]->name.empty()) {
stripped = mjuu_strippath(assets[i]->get_file());
stripped = mjuu_strippath(assets[i]->File());
assets[i]->name = mjuu_stripext(stripped);
names[assets[i]->name].push_back(i);
}
@@ -1365,8 +1365,8 @@ template <typename T>
static size_t getpathslength(std::vector<T> list) {
size_t result = 0;
for (const auto& element : list) {
if (!element->get_file().empty()) {
result += element->get_file().length() + 1;
if (!element->File().empty()) {
result += element->File().length() + 1;
}
}
@@ -1827,10 +1827,10 @@ template <class T>
static int pathlist(vector<T*>& list, int adr, int* path_adr, char* paths) {
for (unsigned int i = 0; i < list.size(); ++i) {
path_adr[i] = -1;
if (!list[i] || list[i]->get_file().empty()) {
if (!list[i] || list[i]->File().empty()) {
continue;
}
adr = addtolist(list[i]->get_file(), adr, &path_adr[i], paths);
adr = addtolist(list[i]->File(), adr, &path_adr[i], paths);
}
return adr;
@@ -2310,7 +2310,7 @@ void mjCModel::CopyObjects(mjModel* m) {
m->mesh_graphadr[i] = (pme->szgraph() ? graph_adr : -1);
m->mesh_bvhnum[i] = pme->tree().Nbvh();
m->mesh_bvhadr[i] = pme->tree().Nbvh() ? bvh_adr : -1;
mjuu_copyvec(&m->mesh_scale[3 * i], pme->get_scale(), 3);
mjuu_copyvec(&m->mesh_scale[3 * i], pme->Scale(), 3);
mjuu_copyvec(&m->mesh_pos[3 * i], pme->GetOffsetPosPtr(), 3);
mjuu_copyvec(&m->mesh_quat[4 * i], pme->GetOffsetQuatPtr(), 4);
@@ -3466,7 +3466,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
if (geoms_[i]->mesh &&
(geoms_[i]->spec.type==mjGEOM_MESH || geoms_[i]->spec.type==mjGEOM_SDF) &&
(geoms_[i]->spec.contype || geoms_[i]->spec.conaffinity)) {
geoms_[i]->mesh->set_needhull(true);
geoms_[i]->mesh->SetNeedHull(true);
}
}