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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_vis_visualize.c
+3 -2
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@@ -763,7 +763,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->flags[mjVIS_MESHBVH]) {
for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[geomid];
if (m->geom_type[geomid] == mjGEOM_SDF || meshid == -1) {
// skip if not a mesh or if there is an octree
if (m->geom_type[geomid] == mjGEOM_SDF || meshid == -1 || m->mesh_octadr[meshid] >= 0) {
continue;
}
@@ -812,7 +813,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->flags[mjVIS_MESHBVH]) {
for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[geomid];
if (m->geom_type[geomid] != mjGEOM_SDF || meshid == -1) {
if (meshid == -1 || (m->geom_type[geomid] == mjGEOM_MESH && m->mesh_octadr[meshid] == -1)) {
continue;
}