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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.h
+3 -2
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@@ -107,8 +107,9 @@ void mjuu_localquat(double* local, const double* child, const double* parent);
// compute vector cross-product a = b x c
void mjuu_crossvec(double* a, const double* b, const double* c);
// compute normal vector to given triangle (uses float for OpenGL)
double mjuu_makenormal(double* normal, const float* a, const float* b, const float* c);
// compute normal vector to given triangle
template<typename T> double mjuu_makenormal(double* normal, const T a[3],
const T b[3], const T c[3]);
// compute quaternion corresponding to minimal rotation from [0;0;1] to vec
void mjuu_z2quat(double* quat, const double* vec);