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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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src/engine/engine_io.c
+4 -3
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@@ -460,7 +460,7 @@ static void freeModelBuffers(mjModel* m) {
// allocate and initialize mjModel structure
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh,
int nbvhstatic, int nbvhdynamic, int njnt, int ngeom, int nsite, int ncam,
int nbvhstatic, int nbvhdynamic, int noct, int njnt, int ngeom, int nsite, int ncam,
int nlight, int nflex, int nflexnode, int nflexvert, int nflexedge, int nflexelem,
int nflexelemdata, int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
@@ -499,6 +499,7 @@ void mj_makeModel(mjModel** dest,
m->nbvh = nbvh;
m->nbvhstatic = nbvhstatic;
m->nbvhdynamic = nbvhdynamic;
m->noct = noct;
m->njnt = njnt;
m->ngeom = ngeom;
m->nsite = nsite;
@@ -639,7 +640,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
if (!dest) {
mj_makeModel(&dest,
src->nq, src->nv, src->nu, src->na, src->nbody, src->nbvh,
src->nbvhstatic, src->nbvhdynamic, src->njnt, src->ngeom, src->nsite,
src->nbvhstatic, src->nbvhdynamic, src->noct, src->njnt, src->ngeom, src->nsite,
src->ncam, src->nlight, src->nflex, src->nflexnode, src->nflexvert, src->nflexedge,
src->nflexelem, src->nflexelemdata, src->nflexelemedge, src->nflexshelldata,
src->nflexevpair, src->nflextexcoord, src->nmesh, src->nmeshvert,
@@ -835,7 +836,7 @@ mjModel* mj_loadModelBuffer(const void* buffer, int buffer_sz) {
ints[42], ints[43], ints[44], ints[45], ints[46], ints[47], ints[48],
ints[49], ints[50], ints[51], ints[52], ints[53], ints[54], ints[55],
ints[56], ints[57], ints[58], ints[59], ints[60], ints[61], ints[62],
ints[63], ints[64], ints[65], ints[66], ints[67], ints[68]);
ints[63], ints[64], ints[65], ints[66], ints[67], ints[68], ints[69]);
if (!m || m->nbuffer != sizes[getnsize()-1]) {
mju_warning("Corrupted model, wrong size parameters");
mj_deleteModel(m);