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Add mesh BVH.

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PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
This commit is contained in:
Alessio Quaglino
2023-05-09 03:30:25 -07:00
committed by Copybara-Service
parent 49066e1794
commit 4c487e07ed
13 changed files with 242 additions and 50 deletions
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include/mujoco/mjmodel.h
+2
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@@ -771,6 +771,8 @@ struct mjModel_ {
int* mesh_vertnum; // number of vertices (nmesh x 1)
int* mesh_faceadr; // first face address (nmesh x 1)
int* mesh_facenum; // number of faces (nmesh x 1)
int* mesh_bvhadr; // address of bvh root (nmesh x 1)
int* mesh_bvhnum; // number of bvh (nmesh x 1)
int* mesh_normaladr; // first normal address (nmesh x 1)
int* mesh_normalnum; // number of normals (nmesh x 1)
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
include/mujoco/mjvisualize.h
+1
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@@ -123,6 +123,7 @@ typedef enum mjtVisFlag_ { // flags enabling model element visualization
mjVIS_STATIC, // static bodies
mjVIS_SKIN, // skin
mjVIS_MIDPHASE, // mid-phase bounding volume hierarchy
mjVIS_MESHBVH, // mesh bounding volume hierarchy
mjNVISFLAG // number of visualization flags
} mjtVisFlag;
include/mujoco/mjxmacro.h
+2
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@@ -281,6 +281,8 @@
X ( int, mesh_texcoordnum, nmesh, 1 ) \
X ( int, mesh_faceadr, nmesh, 1 ) \
X ( int, mesh_facenum, nmesh, 1 ) \
X ( int, mesh_bvhadr, nmesh, 1 ) \
X ( int, mesh_bvhnum, nmesh, 1 ) \
XMJV( int, mesh_graphadr, nmesh, 1 ) \
X ( float, mesh_vert, nmeshvert, 3 ) \
X ( float, mesh_normal, nmeshnormal, 3 ) \