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Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.

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PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
This commit is contained in:
Kyle Bayes
2025-03-07 05:16:54 -08:00
committed by Copybara-Service
parent e4ee00e695
commit 4d024f9421
9 changed files with 435 additions and 363 deletions
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doc/XMLreference.rst
+8 -7
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@@ -3397,10 +3397,11 @@ saving the XML:
compatible with :at:`dim=1`.
**mesh** loads the flexcomp points and elements (i.e. triangles) from a mesh file, in the same file formats as mesh
assets. A mesh asset is not actually added to the model. Instead the vertex and face data from the mesh file are used
to populate the point and element data of the flexcomp. :at:`dim` is automatically set to 2. Recall that a mesh asset
in MuJoCo can be used as a rigid geom attached to a single body. In contrast, the flex generated here corresponds to
a soft mesh with the same initial shape, where each vertex is a separate moving body (unless pinned).
assets, excluding the legacy .msh format. A mesh asset is not actually added to the model. Instead the vertex and
face data from the mesh file are used to populate the point and element data of the flexcomp. :at:`dim` is
automatically set to 2. Recall that a mesh asset in MuJoCo can be used as a rigid geom attached to a single body. In
contrast, the flex generated here corresponds to a soft mesh with the same initial shape, where each vertex is a
separate moving body (unless pinned).
.. _gmsh-file-docs:
@@ -3471,9 +3472,9 @@ saving the XML:
:at:`file`: :at-val:`string, optional`
The name of the file from which a **surface** (triangular) or **volumetric** (tetrahedral) mesh is loaded. For
surface meshes, the file extension is used to determine the file format. Supported formats are the same as in
:ref:`mesh assets<asset-mesh>` and also including GMSH. Volumetric meshes are supported only in GMSH format.
See :ref:`here<gmsh-file-docs>` for more information on GMSH files.
surface meshes, the file extension is used to determine the file format. Supported formats are GMSH and the formats
specified in :ref:`mesh assets<asset-mesh>`, excluding the legacy .msh format. Volumetric meshes are supported only
in GMSH format. See :ref:`here<gmsh-file-docs>` for more information on GMSH files.
.. _body-flexcomp-rigid: