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Avoid duplicated vertices in the SDF octree.

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Before: nnode: 42777, nvert: 342216
After: nnode: 42777, nvert: 77588
PiperOrigin-RevId: 792115571
Change-Id: I17913ed3d22f22a0370dc4cbd2b833a0f5983cda
This commit is contained in:
Alessio Quaglino
2025-08-07 05:26:04 -07:00
committed by Copybara-Service
parent 840108cf7c
commit 781242ae95
3 changed files with 52 additions and 15 deletions
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src/user/user_objects.h
+35 -5
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@@ -17,10 +17,10 @@
#include <stdbool.h>
#include <algorithm>
#include <cmath>
#include <cstddef>
#include <array>
#include <functional>
#include <map>
#include <string>
#include <string_view>
#include <unordered_map>
@@ -215,8 +215,37 @@ class mjCBoundingVolumeHierarchy : public mjCBoundingVolumeHierarchy_ {
//------------------------- class mjCOctree --------------------------------------------------------
typedef std::array<double, 3> Point;
typedef std::array<Point, 3> Triangle;
struct Point {
std::array<double, 3> p;
double& operator[](size_t i) { return p[i]; }
const double& operator[](size_t i) const { return p[i]; }
bool operator==(const Point& other) const {
constexpr double kEpsilon = 1e-9;
return std::abs(this->p[0] - other.p[0]) < kEpsilon &&
std::abs(this->p[1] - other.p[1]) < kEpsilon &&
std::abs(this->p[2] - other.p[2]) < kEpsilon;
}
};
namespace std {
template <>
struct hash<Point> {
size_t operator()(const Point& pt) const {
size_t h1 = hash<double>()(pt.p[0]);
size_t h2 = hash<double>()(pt.p[1]);
size_t h3 = hash<double>()(pt.p[2]);
// combine hashes
size_t seed = h1;
seed ^= h2 + 0x9e3779b9 + (seed << 6) + (seed >> 2);
seed ^= h3 + 0x9e3779b9 + (seed << 6) + (seed >> 2);
return seed;
}
};
} // namespace std
typedef std::array<std::array<double, 3>, 3> Triangle;
struct OctNode {
int level = 0; // level of the node
@@ -246,7 +275,7 @@ class mjCOctree : public mjCOctree_ {
void CopyChild(int* child) const;
void CopyAabb(mjtNum* aabb) const;
void CopyCoeff(mjtNum* coeff) const;
const double* Vert(int n, int v) const { return vert_[node_[n].vertid[v]].data(); }
const double* Vert(int n, int v) const { return vert_[node_[n].vertid[v]].p.data(); }
void SetFace(const std::vector<double>& vert, const std::vector<int>& face);
int Size() const {
return sizeof(OctNode) * node_.size() + sizeof(Triangle) * face_.size() +
@@ -260,7 +289,8 @@ class mjCOctree : public mjCOctree_ {
private:
void Make(std::vector<Triangle>& elements);
int MakeOctree(const std::vector<Triangle*>& elements, const double aamm[6], int lev = 0);
int MakeOctree(const std::vector<Triangle*>& elements, const double aamm[6], int lev,
std::unordered_map<Point, int>& vert_map);
};