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Refactor SDF coefficient computation into mjCOctree.

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The logic for computing Signed Distance Function (SDF) coefficients using TriangleMeshDistance is moved from `mjCPlugin::Make` in `user_mesh.cc` to a new method `mjCOctree::ComputeSdfCoeffs` in `user_objects.cc`. This encapsulates the SDF computation within the octree class.

PiperOrigin-RevId: 874572414
Change-Id: Ia2365c9c4527a252ff1d1bb43fe2c2593761e471
This commit is contained in:
Alessio Quaglino
2026-02-24 06:03:24 -08:00
committed by Copybara-Service
parent 82e92cbcaa
commit 5fc580a8ba
3 changed files with 59 additions and 47 deletions
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src/user/user_mesh.cc
+1 -47
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@@ -34,7 +34,6 @@
#include <mujoco/mjspec.h>
#include "user/user_api.h"
#include <TriangleMeshDistance/include/tmd/TriangleMeshDistance.h>
#ifdef MUJOCO_TINYOBJLOADER_IMPL
#define TINYOBJLOADER_IMPLEMENTATION
@@ -780,52 +779,7 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
// compute sdf coefficients
if (!plugin.active) {
tmd::TriangleMeshDistance sdf(vert_.data(), nvert(), face_.data(), nface());
std::vector<double> coeffs(octree_.NumVerts());
std::vector<bool> processed(octree_.NumVerts(), false);
std::deque<int> queue;
if (octree_.NumNodes() > 0) {
queue.push_back(0); // start traversal from the root node
}
while (!queue.empty()) {
int node_idx = queue.front();
queue.pop_front();
for (int j = 0; j < 8; ++j) {
int vert_id = octree_.VertId(node_idx, j);
if (processed[vert_id]) {
continue;
}
if (octree_.Hang(vert_id).empty()) {
coeffs[vert_id] = sdf.signed_distance(octree_.Vert(vert_id)).distance;
} else {
double sum_coeff = 0;
for (int dep_id : octree_.Hang(vert_id)) {
sum_coeff += coeffs[dep_id];
if (!processed[dep_id]) {
throw mjCError(this, "sdf coefficient computation failed");
}
}
coeffs[vert_id] = sum_coeff / octree_.Hang(vert_id).size();
}
processed[vert_id] = true;
}
for (int child_idx : octree_.Children(node_idx)) {
if (child_idx != -1) {
queue.push_back(child_idx);
}
}
}
for (int i = 0; i < octree_.NumNodes(); ++i) {
for (int j = 0; j < 8; j++) {
octree_.AddCoeff(i, j, coeffs[octree_.VertId(i, j)]);
}
}
octree_.ComputeSdfCoeffs(vert_.data(), nvert(), face_.data(), nface());
}
}