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Ensure that the Octree is balanced.

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This means that two adjacent nodes can only have at most one level of refinement difference.

Note: This is a small breaking change for mjWarp since the order of the children was flipped.
PiperOrigin-RevId: 806299445
Change-Id: Ia326a31c7a8162ae02d70c868d87779198e805be
This commit is contained in:
Alessio Quaglino
2025-09-12 08:33:25 -07:00
committed by Copybara-Service
parent 2287b9f815
commit 4fc69fa64d
4 changed files with 245 additions and 16 deletions
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src/engine/engine_collision_sdf.c
+3 -3
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@@ -124,9 +124,9 @@ static int findOct(mjtNum w[8], mjtNum dw[8][3], const mjtNum* oct_aabb,
}
// compute which of 8 children to visit next
int x = coord[0] < .5 ? 1 : 0;
int y = coord[1] < .5 ? 1 : 0;
int z = coord[2] < .5 ? 1 : 0;
int x = coord[0] < .5 ? 0 : 1;
int y = coord[1] < .5 ? 0 : 1;
int z = coord[2] < .5 ? 0 : 1;
stack = oct_child[8 * node + 4*z + 2*y + x];
}