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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/user/user_model.cc
+17 -2
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@@ -963,6 +963,7 @@ void mjCModel::Clear() {
nbvh = 0;
nbvhstatic = 0;
nbvhdynamic = 0;
noct = 0;
njnt = 0;
ngeom = 0;
nsite = 0;
@@ -1726,6 +1727,7 @@ void mjCModel::IndexAssets(bool discard) {
((mjCMesh*)mesh)->SetNotVisual(); // reset to true by mesh->Compile()
}
geom->mesh = (discard && geom->visual_) ? nullptr : (mjCMesh*)mesh;
static_cast<mjCMesh*>(mesh)->needoct_ |= geom->spec.type == mjGEOM_SDF;
} else {
throw mjCError(geom, "mesh '%s' not found in geom %d", geom->get_meshname().c_str(), i);
}
@@ -1936,6 +1938,7 @@ void mjCModel::SetSizes() {
}
for (int i=0; i < nmesh; i++) {
nbvhstatic += meshes_[i]->tree().Nbvh();
noct += meshes_[i]->octree().NumNodes();
}
for (int i=0; i < nflex; i++) {
nbvhdynamic += flexes_[i]->tree.Nbvh();
@@ -2943,7 +2946,7 @@ int mjCModel::CountNJmom(const mjModel* m) {
// copy objects outside kinematic tree
void mjCModel::CopyObjects(mjModel* m) {
int adr, bone_adr, vert_adr, node_adr, normal_adr, face_adr, texcoord_adr;
int adr, bone_adr, vert_adr, node_adr, normal_adr, face_adr, texcoord_adr, oct_adr;
int edge_adr, elem_adr, elemdata_adr, elemedge_adr, shelldata_adr, evpair_adr;
int bonevert_adr, graph_adr, data_adr, bvh_adr;
int poly_adr, polymap_adr, polyvert_adr;
@@ -2963,6 +2966,7 @@ void mjCModel::CopyObjects(mjModel* m) {
}
// meshes
oct_adr = 0;
vert_adr = 0;
normal_adr = 0;
texcoord_adr = 0;
@@ -2989,6 +2993,8 @@ void mjCModel::CopyObjects(mjModel* m) {
m->mesh_graphadr[i] = (pme->szgraph() ? graph_adr : -1);
m->mesh_bvhnum[i] = pme->tree().Nbvh();
m->mesh_bvhadr[i] = pme->tree().Nbvh() ? bvh_adr : -1;
m->mesh_octnum[i] = pme->octree().NumNodes();
m->mesh_octadr[i] = pme->octree().NumNodes() ? oct_adr : -1;
mjuu_copyvec(&m->mesh_scale[3 * i], pme->Scale(), 3);
mjuu_copyvec(&m->mesh_pos[3 * i], pme->GetPosPtr(), 3);
mjuu_copyvec(&m->mesh_quat[4 * i], pme->GetQuatPtr(), 4);
@@ -3023,6 +3029,14 @@ void mjCModel::CopyObjects(mjModel* m) {
}
}
// copy octree data
if (pme->octree().NumNodes()) {
int n_oct = pme->octree().NumNodes();
memcpy(m->oct_aabb + 6*oct_adr, pme->octree().Nodes().data(), 6*n_oct*sizeof(mjtNum));
memcpy(m->oct_child + 8*oct_adr, pme->octree().Child().data(), 8*n_oct*sizeof(int));
memcpy(m->oct_depth + oct_adr, pme->octree().Level().data(), n_oct*sizeof(int));
}
// advance counters
poly_adr += pme->npolygon();
polyvert_adr += pme->npolygonvert();
@@ -3033,6 +3047,7 @@ void mjCModel::CopyObjects(mjModel* m) {
face_adr += pme->nface();
graph_adr += pme->szgraph();
bvh_adr += pme->tree().Nbvh();
oct_adr += pme->octree().NumNodes();
}
// flexes
@@ -4523,7 +4538,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// create low-level model
mj_makeModel(&m,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, njnt, ngeom, nsite,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, ngeom, nsite,
ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, nmeshpoly,