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Add fields in mjModel for supporting mesh multicontact in nativeccd.

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PiperOrigin-RevId: 728659204
Change-Id: I7f8a11b082640284ea009d8693f228078680b953
This commit is contained in:
Kyle Bayes
2025-02-19 07:11:25 -08:00
committed by Copybara-Service
parent b516edae1b
commit 7f3bb062c3
8 changed files with 166 additions and 17 deletions
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src/user/user_model.cc
+10 -2
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@@ -2780,6 +2780,14 @@ void mjCModel::CopyObjects(mjModel* m) {
// get pointer
mjCMesh* pme = meshes_[i];
// zero out multi-ccd fields
for (int j = 0; j < pme->nvert(); j++) {
m->mesh_polymapadr[vert_adr + j] = 0;
m->mesh_polymapnum[vert_adr + j] = 0;
}
m->mesh_polynum[i] = 0;
m->mesh_polyadr[i] = 0;
// set fields
m->mesh_vertadr[i] = vert_adr;
m->mesh_vertnum[i] = pme->nvert();
@@ -4332,8 +4340,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, njnt, ngeom, nsite,
ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, 0, 0,
0, nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nwrap, nsensor, nnumeric, nnumericdata, ntext, ntextdata,
ntuple, ntupledata, nkey, nmocap, nplugin, npluginattr,