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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/user/user_objects.h
+8 -2
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@@ -250,6 +250,8 @@ typedef std::array<std::array<double, 3>, 3> Triangle;
struct OctNode {
int level = 0; // level of the node
int parent_index = -1; // index of the parent node
int child_slot = -1; // slot of the child node in the parent node
std::array<int, 8> child = {-1}; // children nodes
std::array<int, 8> vertid = {-1}; // vertex id's
std::array<double, 6> aamm = {0}; // bounding box
@@ -302,8 +304,12 @@ class mjCOctree : public mjCOctree_ {
void MakeOctree(const std::vector<Triangle*>& elements, const double aamm[6],
std::unordered_map<Point, int>& vert_map);
void TaskToNode(const OctreeTask& task, OctNode& node, std::unordered_map<Point, int>& vert_map);
void Subdivide(std::deque<OctreeTask>& queue, const std::vector<Triangle*>& colliding,
const OctreeTask& task, std::unordered_map<Point, int>& vert_map);
void Subdivide(const OctreeTask& task, std::unordered_map<Point, int>& vert_map,
std::deque<OctreeTask>* queue = nullptr,
const std::vector<Triangle*>& colliding = {});
int FindNeighbor(int node_idx, int dir);
int FindCoarseNeighbor(int node_idx, int dir);
void BalanceOctree(std::unordered_map<Point, int>& vert_map);
};