chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add octree to meshes of SDF geoms.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_vis_visualize.c
+38 -1
View File
@@ -763,7 +763,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (vopt->flags[mjVIS_MESHBVH]) {
for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[geomid];
if (meshid == -1) {
if (m->geom_type[geomid] == mjGEOM_SDF || meshid == -1) {
continue;
}
@@ -806,6 +806,43 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
}
// mesh octree
category = mjCAT_DECOR;
objtype = mjOBJ_UNKNOWN;
if (vopt->flags[mjVIS_MESHBVH]) {
for (int geomid = 0; geomid < m->ngeom; geomid++) {
int meshid = m->geom_dataid[geomid];
if (m->geom_type[geomid] != mjGEOM_SDF || meshid == -1) {
continue;
}
for (int b = 0; b < m->mesh_octnum[meshid]; b++) {
int i = b + m->mesh_octadr[meshid];
START
if (m->oct_depth[i] != vopt->bvh_depth) {
continue;
}
// box color
const float* rgba = m->vis.rgba.bv;
// get xpos, xmat, size
const mjtNum* xpos = d->geom_xpos + 3 * geomid;
const mjtNum* xmat = d->geom_xmat + 9 * geomid;
const mjtNum *size = m->oct_aabb + 6*i + 3;
// offset xpos with aabb center (not always at geom origin)
const mjtNum *center = m->oct_aabb + 6*i;
mjtNum pos[3];
mju_mulMatVec3(pos, xmat, center);
mju_addTo3(pos, xpos);
mjv_initGeom(thisgeom, mjGEOM_LINEBOX, size, pos, xmat, rgba);
FINISH
}
}
}
// inertia
objtype = mjOBJ_BODY;
if (vopt->flags[mjVIS_INERTIA]) {