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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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test/user/user_mesh_test.cc
+24
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@@ -1264,6 +1264,30 @@ TEST_F(MjCMeshTest, LoadSkin) {
mj_deleteSpec(spec);
}
// ------------- test octree ---------------------------------------------------
TEST_F(MjCMeshTest, Octree) {
const std::string xml_path = GetTestDataFilePath(kTorusPath);
std::array<char, 1024> error;
mjSpec* spec = mj_parseXML(xml_path.c_str(), 0, error.data(), error.size());
mjsGeom* geom = mjs_asGeom(mjs_firstElement(spec, mjOBJ_GEOM));
geom->type = mjGEOM_SDF;
mjModel* model = mj_compile(spec, 0);
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_GT(model->mesh_octnum[0], 0);
mj_deleteSpec(spec);
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, OctreeNotComputedForNonSDF) {
const std::string xml_path = GetTestDataFilePath(kTorusPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->noct, 0);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco