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Make the Octree interpolation continuous.

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This is done by detecting the hanging nodes and compute the function at those location by interpolating the corresponding coarse vertices.

PiperOrigin-RevId: 807700228
Change-Id: I27dcb85361ca445c2099dd07b280cae5c92d3131
This commit is contained in:
Alessio Quaglino
2025-09-16 08:14:35 -07:00
committed by Copybara-Service
parent 04380890d5
commit 5bbda2186d
4 changed files with 300 additions and 5 deletions
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src/user/user_objects.h
+6 -2
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@@ -270,8 +270,9 @@ struct mjCOctree_ {
int nnode_ = 0;
int nvert_ = 0;
std::vector<OctNode> node_;
std::vector<Triangle> face_; // mesh faces (nmeshface x 3)
std::vector<Point> vert_; // octree vertices (nvert x 3)
std::vector<Triangle> face_; // mesh faces (nmeshface x 3)
std::vector<Point> vert_; // octree vertices (nvert x 3)
std::vector<std::vector<int>> hang_; // hanging nodes status (nvert x 1)
double ipos_[3] = {0, 0, 0};
double iquat_[4] = {1, 0, 0, 0};
};
@@ -287,7 +288,9 @@ class mjCOctree : public mjCOctree_ {
void CopyAabb(mjtNum* aabb) const;
void CopyCoeff(mjtNum* coeff) const;
const double* Vert(int i) const { return vert_[i].p.data(); }
const std::vector<int>& Hang(int i) const { return hang_[i]; }
int VertId(int n, int v) const { return node_[n].vertid[v]; }
const std::array<int, 8>& Children(int i) const { return node_[i].child; }
void SetFace(const std::vector<double>& vert, const std::vector<int>& face);
int Size() const {
return sizeof(OctNode) * node_.size() + sizeof(Triangle) * face_.size() +
@@ -310,6 +313,7 @@ class mjCOctree : public mjCOctree_ {
int FindNeighbor(int node_idx, int dir);
int FindCoarseNeighbor(int node_idx, int dir);
void BalanceOctree(std::unordered_map<Point, int>& vert_map);
void MarkHangingNodes();
};