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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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src/engine/engine_collision_sdf.c
+14
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@@ -144,6 +144,11 @@ mjtNum oct_distance(const mjModel* m, const mjtNum p[3], int meshid) {
mjtNum* oct_aabb = m->oct_aabb + 6*octadr;
mjtNum* oct_coeff = m->oct_coeff + 8*octadr;
if (octadr == -1) {
mjERROR("Octree not found in mesh %d", meshid);
return 0;
}
mjtNum w[8];
mjtNum sdf = 0;
mjtNum point[3] = {p[0], p[1], p[2]};
@@ -168,6 +173,10 @@ void oct_gradient(const mjModel* m, mjtNum grad[3], const mjtNum point[3], int m
mjtNum* oct_aabb = m->oct_aabb + 6*octadr;
mjtNum* oct_coeff = m->oct_coeff + 8*octadr;
if (octadr == -1) {
mjERROR("Octree not found in mesh %d", meshid);
}
// analytic in the interior
if (boxProjection(p, oct_aabb) <= 0) {
mjtNum dw[8][3];
@@ -267,6 +276,8 @@ static mjtNum geomDistance(const mjModel* m, const mjData* d, const mjpPlugin* p
} else {
return oct_distance(m, x, i);
}
case mjGEOM_MESH:
return oct_distance(m, x, i);
default:
mjERROR("sdf collisions not available for geom type %d", type);
return 0;
@@ -371,6 +382,9 @@ static void geomGradient(mjtNum gradient[3], const mjModel* m, const mjData* d,
oct_gradient(m, gradient, x, i);
}
break;
case mjGEOM_MESH:
oct_gradient(m, gradient, x, i);
break;
default:
mjERROR("sdf collisions not available for geom type %d", type);
}