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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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src/user/user_util.cc
+6 -1
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@@ -359,7 +359,8 @@ void mjuu_crossvec(double* a, const double* b, const double* c) {
// compute normal vector to given triangle, return length
double mjuu_makenormal(double* normal, const float* a, const float* b, const float* c) {
template<typename T> double mjuu_makenormal(double* normal, const T a[3],
const T b[3], const T c[3]) {
double v1[3] = {a[0], a[1], a[2]};
double v2[3] = {b[0], b[1], b[2]};
double v3[3] = {c[0], c[1], c[2]};
@@ -379,6 +380,10 @@ double mjuu_makenormal(double* normal, const float* a, const float* b, const flo
return nrm;
}
template double mjuu_makenormal(double* normal, const double a[3],
const double b[3], const double c[3]);
template double mjuu_makenormal(double* normal, const float a[3],
const float b[3], const float c[3]);
// compute quaternion as minimal rotation from [0;0;1] to vec
void mjuu_z2quat(double* quat, const double* vec) {