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Add octree support to MJX API.

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Also, enable the touch sensor to use the octree SDF.

PiperOrigin-RevId: 783313462
Change-Id: I0032c2a7164f4770aa10a3612db3fd70bea954db
This commit is contained in:
Alessio Quaglino
2025-07-15 06:43:58 -07:00
committed by Copybara-Service
parent ad0dc0de5e
commit 4ea778f2d3
4 changed files with 27 additions and 7 deletions
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plugin/sensor/touch_stress.cc
+5 -5
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@@ -309,8 +309,9 @@ void TouchStress::Compute(const mjModel* m, mjData* d, int instance) {
geomtype[0] = (mjtGeom)m->geom_type[geom];
}
// Skip mesh geoms.
if (geomtype[0] == mjGEOM_MESH) {
// Skip mesh geoms not having an octree.
if (geomtype[0] == mjGEOM_MESH &&
m->mesh_octadr[m->geom_dataid[geom]] == -1) {
continue;
}
@@ -345,9 +346,8 @@ void TouchStress::Compute(const mjModel* m, mjData* d, int instance) {
mju_sub3(tmp, xpos, d->geom_xpos + 3*geom);
mju_mulMatTVec3(lpos, d->geom_xmat + 9*geom, tmp);
// Add mesh position if needed.
if (m->geom_type[geom] == mjGEOM_MESH ||
m->geom_type[geom] == mjGEOM_SDF) {
// SDF plugins are in the original mesh frame.
if (sdf_ptr[0] != NULL) {
mjtNum mesh_mat[9];
mju_quat2Mat(mesh_mat, m->mesh_quat + 4 * m->geom_dataid[geom]);
mju_mulMatVec3(lpos, mesh_mat, lpos);