chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mesh BVH.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/user/user_model.cc
+12 -1
View File
@@ -939,6 +939,7 @@ void mjCModel::SetSizes(void) {
nmeshface += meshes[i]->nface;
nmeshtexcoord += (meshes[i]->texcoord ? meshes[i]->ntexcoord : 0);
nmeshgraph += meshes[i]->szgraph;
nbvh += meshes[i]->tree.nbvh;
}
// nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert
@@ -1685,7 +1686,7 @@ void mjCModel::CopyTree(mjModel* m) {
// copy objects outside kinematic tree
void mjCModel::CopyObjects(mjModel* m) {
int adr, bone_adr, vert_adr, normal_adr, face_adr, texcoord_adr;
int bonevert_adr, graph_adr, data_adr;
int bonevert_adr, graph_adr, data_adr, bvh_adr=0;
// sizes outside call to mj_makeModel
m->nemax = nemax;
@@ -1700,6 +1701,9 @@ void mjCModel::CopyObjects(mjModel* m) {
texcoord_adr = 0;
face_adr = 0;
graph_adr = 0;
for (int i=0; i<nbody; i++) {
bvh_adr = mju_max(bvh_adr, m->body_bvhadr[i] + m->body_bvhnum[i]);
}
for (int i=0; i<nmesh; i++) {
// get pointer
mjCMesh* pme = meshes[i];
@@ -1714,6 +1718,8 @@ void mjCModel::CopyObjects(mjModel* m) {
m->mesh_faceadr[i] = face_adr;
m->mesh_facenum[i] = pme->nface;
m->mesh_graphadr[i] = (pme->szgraph ? graph_adr : -1);
m->mesh_bvhadr[i] = bvh_adr;
m->mesh_bvhnum[i] = pme->tree.nbvh;
// copy vertices, normals, faces, texcoords, aux data
memcpy(m->mesh_vert + 3*vert_adr, pme->vert, 3*pme->nvert*sizeof(float));
@@ -1729,6 +1735,10 @@ void mjCModel::CopyObjects(mjModel* m) {
if (pme->szgraph) {
memcpy(m->mesh_graph + graph_adr, pme->graph, pme->szgraph*sizeof(int));
}
memcpy(m->bvh_aabb + 6*bvh_adr, pme->tree.bvh.data(), 6*pme->tree.nbvh*sizeof(mjtNum));
memcpy(m->bvh_child + 2*bvh_adr, pme->tree.child.data(), 2*pme->tree.nbvh*sizeof(int));
memcpy(m->bvh_depth + bvh_adr, pme->tree.level.data(), pme->tree.nbvh*sizeof(int));
memcpy(m->bvh_geomid + bvh_adr, pme->tree.nodeid.data(), pme->tree.nbvh*sizeof(int));
// advance counters
vert_adr += pme->nvert;
@@ -1736,6 +1746,7 @@ void mjCModel::CopyObjects(mjModel* m) {
texcoord_adr += (pme->texcoord ? pme->ntexcoord : 0);
face_adr += pme->nface;
graph_adr += pme->szgraph;
bvh_adr += pme->tree.nbvh;
}
// skins