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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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unity/Runtime/Bindings/MjBindings.cs
+7
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@@ -5242,6 +5242,7 @@ public unsafe struct mjModel_ {
public int nbvh;
public int nbvhstatic;
public int nbvhdynamic;
public int noct;
public int njnt;
public int ngeom;
public int nsite;
@@ -5358,6 +5359,9 @@ public unsafe struct mjModel_ {
public int* bvh_child;
public int* bvh_nodeid;
public double* bvh_aabb;
public int* oct_depth;
public int* oct_child;
public double* oct_aabb;
public int* jnt_type;
public int* jnt_qposadr;
public int* jnt_dofadr;
@@ -5528,6 +5532,8 @@ public unsafe struct mjModel_ {
public int* mesh_facenum;
public int* mesh_bvhadr;
public int* mesh_bvhnum;
public int* mesh_octadr;
public int* mesh_octnum;
public int* mesh_normaladr;
public int* mesh_normalnum;
public int* mesh_texcoordadr;
@@ -6111,6 +6117,7 @@ public unsafe struct mjvOption_ {
public fixed byte skingroup[6];
public fixed byte flags[32];
public int bvh_depth;
public int oct_depth;
public int flex_layer;
}