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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_objects.h
+38 -34
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@@ -788,9 +788,6 @@ class mjCMesh_ : public mjCBase {
};
class mjCMesh: public mjCMesh_, private mjsMesh {
friend class mjCModel;
friend class mjCFlexcomp;
friend class mjXWriter;
public:
mjCMesh(mjCModel* = nullptr, mjCDef* = nullptr);
mjCMesh(const mjCMesh& other);
@@ -804,20 +801,24 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
void CopyFromSpec(void);
void PointToLocal(void);
// public getters and setters
const std::string& get_content_type() const { return content_type_; }
const std::string& get_file() const { return file_; }
const double* get_refpos() const { return refpos; }
const double* get_refquat() const { return refquat; }
const double* get_scale() const { return scale; }
bool get_smoothnormal() const { return smoothnormal; }
void set_needhull(bool needhull);
// accessors
const mjsPlugin& Plugin() const { return plugin; }
const std::string& ContentType() const { return content_type_; }
const std::string& File() const { return file_; }
const double* Refpos() const { return refpos; }
const double* Refquat() const { return refquat; }
const double* Scale() const { return scale; }
bool SmoothNormal() const { return smoothnormal; }
const std::vector<float>& Vert() const { return vert_; }
float Vert(int i) const { return vert_[i]; }
const std::vector<float>& UserVert() const { return spec_vert_; }
const std::vector<float>& UserNormal() const { return spec_normal_; }
const std::vector<float>& UserTexcoord() const { return spec_texcoord_; }
const std::vector<int>& Face() const { return face_; }
const std::vector<int>& UserFace() const { return spec_face_; }
// public getters for user data
const std::vector<float>& get_uservert() const { return spec_vert_; }
const std::vector<float>& get_usernormal() const { return spec_normal_; }
const std::vector<float>& get_usertexcoord() const { return spec_texcoord_; }
const std::vector<int>& get_userface() const { return spec_face_; }
// setters
void SetNeedHull(bool needhull) { needhull_ = needhull; }
// mesh properties computed by Compile
const double* aamm() const { return aamm_; }
@@ -858,23 +859,27 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
// sets properties of a bounding volume given a face id
void SetBoundingVolume(int faceid);
void LoadOBJ(mjResource* resource); // load mesh in wavefront OBJ format
void LoadSTL(mjResource* resource); // load mesh in STL BIN format
void LoadMSH(mjResource* resource); // load mesh in MSH BIN format
void RemoveRepeated(); // remove repeated vertices
private:
void LoadOBJ(mjResource* resource); // load mesh in wavefront OBJ format
// load OBJ from cache asset, return true on success
bool LoadCachedOBJ(mjCCache *cache, const mjResource* resource);
// put OBJ into asset cache
void CacheOBJ(mjCCache *cache, const mjResource* resource);
void LoadSTL(mjResource* resource); // load mesh in STL BIN format
void LoadMSH(mjResource* resource); // load mesh in MSH BIN format
// load mesh from cache asset, return true on success (OBJ files are only supported)
bool LoadCachedMesh(mjCCache *cache, const mjResource* resource);
// store mesh into asset cache (OBJ files are only supported)
void CacheMesh(mjCCache *cache, const mjResource* resource,
std::string_view asset_type);
void LoadSDF(); // generate mesh using marching cubes
void MakeGraph(void); // make graph of convex hull
void CopyGraph(void); // copy graph into face data
void MakeNormal(void); // compute vertex normals
void MakeCenter(void); // compute face circumcircle data
void MakeGraph(); // make graph of convex hull
void CopyGraph(); // copy graph into face data
void MakeNormal(); // compute vertex normals
void MakeCenter(); // compute face circumcircle data
void Process(); // compute inertial properties
void ApplyTransformations(); // apply user transformations
void ComputeFaceCentroid(double[3]); // compute centroid of all faces
void RemoveRepeated(void); // remove repeated vertices
void CheckMesh(mjtGeomInertia type); // check if the mesh is valid
// mesh data to be copied into mjModel
@@ -940,7 +945,7 @@ class mjCSkin: public mjCSkin_, private mjsSkin {
using mjCBase::name;
using mjCBase::info;
const std::string& get_file() const { return file_; }
const std::string& File() const { return file_; }
const std::string& get_material() const { return material_; }
const std::vector<float>& get_vert() const { return vert_; }
const std::vector<float>& get_texcoord() const { return texcoord_; }
@@ -997,7 +1002,7 @@ class mjCHField : public mjCHField_, private mjsHField {
void CopyFromSpec(void);
void PointToLocal(void);
std::string get_file() const { return file_; }
std::string File() const { return file_; }
// getter for user data
std::vector<float>& get_userdata() { return userdata_; }
@@ -1044,7 +1049,7 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
void CopyFromSpec(void);
void PointToLocal(void);
std::string get_file() const { return file_; }
std::string File() const { return file_; }
std::string get_content_type() const { return content_type_; }
std::vector<std::string> get_cubefiles() const { return cubefiles_; }
@@ -1194,13 +1199,12 @@ class mjCBodyPair : public mjCBodyPair_, private mjsExclude {
std::string get_bodyname1() const { return bodyname1_; }
std::string get_bodyname2() const { return bodyname2_; }
int GetSignature(void) {
int GetSignature() {
return signature;
}
private:
void Compile(void); // compiler
void Compile(); // compiler
};