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Add octree to meshes of SDF geoms.

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PiperOrigin-RevId: 777634862
Change-Id: I3210c2f8d73fd30ceecb0a11abd1d82e086b3d5d
This commit is contained in:
Alessio Quaglino
2025-06-30 10:49:08 -07:00
committed by Copybara-Service
parent 106df98946
commit 5c1f1f9dba
17 changed files with 369 additions and 12 deletions
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include/mujoco/mjxmacro.h
+6
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@@ -75,6 +75,7 @@
X( nbvh ) \
X( nbvhstatic ) \
X( nbvhdynamic ) \
X( noct ) \
X( njnt ) \
X( ngeom ) \
X( nsite ) \
@@ -216,6 +217,9 @@
X ( int, bvh_child, nbvh, 2 ) \
X ( int, bvh_nodeid, nbvh, 1 ) \
X ( mjtNum, bvh_aabb, nbvhstatic, 6 ) \
X ( int, oct_depth, noct, 1 ) \
X ( int, oct_child, noct, 8 ) \
X ( mjtNum, oct_aabb, noct, 6 ) \
X ( int, jnt_type, njnt, 1 ) \
X ( int, jnt_qposadr, njnt, 1 ) \
X ( int, jnt_dofadr, njnt, 1 ) \
@@ -390,6 +394,8 @@
X ( int, mesh_facenum, nmesh, 1 ) \
X ( int, mesh_bvhadr, nmesh, 1 ) \
X ( int, mesh_bvhnum, nmesh, 1 ) \
X ( int, mesh_octadr, nmesh, 1 ) \
X ( int, mesh_octnum, nmesh, 1 ) \
X ( int, mesh_graphadr, nmesh, 1 ) \
X ( mjtNum, mesh_scale, nmesh, 3 ) \
X ( mjtNum, mesh_pos, nmesh, 3 ) \