From 83e621d771afbadfaba3d878419fdbb004b760ca Mon Sep 17 00:00:00 2001
From: Kyle Bayes <kylebayes@google.com>
Date: Wed, 5 Aug 2026 07:22:01 -0700
Subject: [PATCH] Implement mesh extrema in a 3x3x3 grid corresponding to each
 feature of a unit cube. These are used as seeds for a better initial point in
 mesh hill climbing with up to a 2x speedup in mjc_Convex.

PiperOrigin-RevId: 959645299
Change-Id: I032ae534704e0cc440ddb7691fd21a29a359f521
---
 doc/changelog.rst                             |    1 +
 doc/includes/references.h                     |    1 +
 include/mujoco/mjmodel.h                      |    1 +
 include/mujoco/mjxmacro.h                     |    1 +
 python/mujoco/introspect/structs.py           |    8 +
 src/engine/engine_collision_convex.c          |   21 +-
 src/engine/engine_collision_convex.h          |    3 +-
 src/user/user_model.cc                        |   37 +
 .../collision_convex/100spheremesh.xml        |   18 +
 .../testdata/collision_convex/sphere.obj      | 2563 +++++++++++++++++
 test/user/user_model_test.cc                  |   51 +
 unity/Runtime/Bindings/MjBindings.cs          |    1 +
 wasm/codegen/generated/bindings.cc            |    1 +
 wasm/codegen/generated/bindings.h             |    3 +
 14 files changed, 2708 insertions(+), 2 deletions(-)
 create mode 100644 test/engine/testdata/collision_convex/100spheremesh.xml
 create mode 100644 test/engine/testdata/collision_convex/sphere.obj

diff --git a/doc/changelog.rst b/doc/changelog.rst
index b426be22..e913c653 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -34,6 +34,7 @@ Actuation
 Engine
 ^^^^^^
 
+- Optimized large-mesh convex collision detection with up to 2x speedup in certain cases.
 - Replaced the per-step sparse Cholesky factorization of the flex block of the implicit effective metric M + K with
   its prefactored per-vertex 3x3 diagonal blocks. The blocks precondition the CG constraint solver and drive an
   iterative solve for ``qacc_smooth``, which now converges on :ref:`tolerance<option-tolerance>` rather than a fixed
diff --git a/doc/includes/references.h b/doc/includes/references.h
index 1c6a25d1..0d07e4c3 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -967,6 +967,7 @@ typedef struct mjModel_ {
   int*      mesh_texcoordadr;     // texcoord data address; -1: no texcoord   (nmesh x 1)
   int*      mesh_texcoordnum;     // number of texcoord                       (nmesh x 1)
   int*      mesh_graphadr;        // graph data address; -1: no graph         (nmesh x 1)
+  int*      mesh_extrema;         // extremum vertices in 3x3x3 directions    (nmesh x 27)
   float*    mesh_vert;            // vertex positions for all meshes          (nmeshvert x 3)
   float*    mesh_normal;          // normals for all meshes                   (nmeshnormal x 3)
   float*    mesh_texcoord;        // vertex texcoords for all meshes          (nmeshtexcoord x 2)
diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
index 1d34a094..4cfd4598 100644
--- a/include/mujoco/mjmodel.h
+++ b/include/mujoco/mjmodel.h
@@ -639,6 +639,7 @@ typedef struct mjModel_ {
   int*      mesh_texcoordadr;     // texcoord data address; -1: no texcoord   (nmesh x 1)
   int*      mesh_texcoordnum;     // number of texcoord                       (nmesh x 1)
   int*      mesh_graphadr;        // graph data address; -1: no graph         (nmesh x 1)
+  int*      mesh_extrema;         // extremum vertices in 3x3x3 directions    (nmesh x 27)
   float*    mesh_vert;            // vertex positions for all meshes          (nmeshvert x 3)
   float*    mesh_normal;          // normals for all meshes                   (nmeshnormal x 3)
   float*    mesh_texcoord;        // vertex texcoords for all meshes          (nmeshtexcoord x 2)
diff --git a/include/mujoco/mjxmacro.h b/include/mujoco/mjxmacro.h
index 59aebbd9..8b48328d 100644
--- a/include/mujoco/mjxmacro.h
+++ b/include/mujoco/mjxmacro.h
@@ -544,6 +544,7 @@
     X   ( int,     mesh_texcoordadr,      nmesh,         1                    ) \
     X   ( int,     mesh_texcoordnum,      nmesh,         1                    ) \
     X   ( int,     mesh_graphadr,         nmesh,         1                    ) \
+    X   ( int,     mesh_extrema,          nmesh,         27                   ) \
     XNV ( float,   mesh_vert,             nmeshvert,     3                    ) \
     XNV ( float,   mesh_normal,           nmeshnormal,   3                    ) \
     XNV ( float,   mesh_texcoord,         nmeshtexcoord, 2                    ) \
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 66ab4ec9..1cabe5c0 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -3452,6 +3452,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='graph data address; -1: no graph',
                  array_extent=('nmesh',),
              ),
+             StructFieldDecl(
+                 name='mesh_extrema',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='extremum vertices in 3x3x3 directions',
+                 array_extent=('nmesh', 27),
+             ),
              StructFieldDecl(
                  name='mesh_vert',
                  type=PointerType(
diff --git a/src/engine/engine_collision_convex.c b/src/engine/engine_collision_convex.c
index 02e5bce3..936bbedf 100644
--- a/src/engine/engine_collision_convex.c
+++ b/src/engine/engine_collision_convex.c
@@ -407,7 +407,24 @@ static void mjc_hillclimbSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[
   mulMatTVec3(local_dir, mat, dir);
 
   int prev = -1;
-  int imax = obj->meshindex >= 0 ? obj->meshindex : 0;
+  int imax;
+
+  // map continuous direction to discrete 3x3x3 grid (-1, 0, 1) indices
+  int cx = (local_dir[0] > 0.4) - (local_dir[0] < -0.4) + 1;
+  int cy = (local_dir[1] > 0.4) - (local_dir[1] < -0.4) + 1;
+  int cz = (local_dir[2] > 0.4) - (local_dir[2] < -0.4) + 1;
+  int grid_idx = obj->data.mesh.extrema[cx*9 + cy*3 + cz];
+
+  if (obj->meshindex >= 0) {
+    // warm start: pick the better of cached vertex vs grid seed
+    mjtNum cached_dot = dot3f(local_dir, verts + 3*vert_globalid[obj->meshindex]);
+    mjtNum seed_dot = dot3f(local_dir, verts + 3*vert_globalid[grid_idx]);
+    imax = (seed_dot > cached_dot) ? grid_idx : obj->meshindex;
+  } else {
+    // cold start: use grid seed
+    imax = grid_idx;
+  }
+
   mjtNum max = dot3f(local_dir, verts + 3*vert_globalid[imax]);
 
   // hillclimb until no change
@@ -734,9 +751,11 @@ void mjc_initCCDObj(mjCCDObj* obj, const mjModel* m, const mjData* d, int g, mjt
       polyadr = m->mesh_polyadr[m->geom_dataid[g]];
       if (graphadr < 0 || m->mesh_vertnum[m->geom_dataid[g]] < mjMESH_HILLCLIMB_MIN) {
         obj->data.mesh.graph = NULL;
+        obj->data.mesh.extrema = NULL;
         obj->support = mjc_meshSupport;
       } else {
         obj->data.mesh.graph = m->mesh_graph + graphadr;
+        obj->data.mesh.extrema = m->mesh_extrema + 27 * m->geom_dataid[g];
         obj->support = mjc_hillclimbSupport;
       }
       obj->data.mesh.vert = m->mesh_vert + 3*vertadr;
diff --git a/src/engine/engine_collision_convex.h b/src/engine/engine_collision_convex.h
index 9a653172..7692e0b2 100644
--- a/src/engine/engine_collision_convex.h
+++ b/src/engine/engine_collision_convex.h
@@ -62,7 +62,8 @@ struct _mjCCDObj {
       const int* polyvertnum;
       const int* polyvert;
       const mjtNum* polynormal;
-      const int*graph;
+      const int* graph;
+      const int* extrema;
     } mesh;
 
     // hfield prism data
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 7e9e7576..d5e1a123 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -26,6 +26,7 @@
 #include <exception>
 #include <filesystem>  // NOLINT(build/c++17)
 #include <functional>
+#include <limits>
 #include <mutex>
 #include <set>
 #include <sstream>
@@ -3534,9 +3535,45 @@ void mjCModel::CopyObjects(mjModel* m) {
     } else {
       memset(m->mesh_facetexcoord + 3*face_adr, 0, 3*pme->nface()*sizeof(int));
     }
+    memset(m->mesh_extrema + 27*i, 0, 27*sizeof(int));
     if (pme->szgraph()) {
       pme->CopyGraph(m->mesh_graph + graph_adr);
+
+      // compute grid extrema (local indices in graph)
+      float max_val[27];
+      for (int k = 0; k < 27; k++) {
+        max_val[k] = std::numeric_limits<float>::lowest();
+      }
+
+      const int* graph = m->mesh_graph + graph_adr;
+      int numgraphvert = graph[0];
+      const int* vert_globalid = graph + 2 + numgraphvert;
+      const float* verts = m->mesh_vert + 3*vert_adr;
+
+      // map the 27 features (8 vertices, 6 faces, 12 edges) of a unit cube to the farthest
+      // vertex in the mesh
+      for (int local_id = 0; local_id < numgraphvert; local_id++) {
+        int global_id = vert_globalid[local_id];
+        float x = verts[3 * global_id + 0];
+        float y = verts[3 * global_id + 1];
+        float z = verts[3 * global_id + 2];
+
+        int k = 0;
+        for (int cx = -1; cx <= 1; cx++) {
+          for (int cy = -1; cy <= 1; cy++) {
+            for (int cz = -1; cz <= 1; cz++) {
+              float dot = x * cx + y * cy + z * cz;
+              if (dot > max_val[k]) {
+                max_val[k] = dot;
+                m->mesh_extrema[27*i + k] = local_id;
+              }
+              k++;
+            }
+          }
+        }
+      }
     }
+
     pme->CopyPolygonNormals(m->mesh_polynormal + 3*poly_adr);
     pme->CopyPolygons(m->mesh_polyvert + polyvert_adr, m->mesh_polyvertadr + poly_adr,
                       m->mesh_polyvertnum + poly_adr, polyvert_adr);
diff --git a/test/engine/testdata/collision_convex/100spheremesh.xml b/test/engine/testdata/collision_convex/100spheremesh.xml
new file mode 100644
index 00000000..a17d4d63
--- /dev/null
+++ b/test/engine/testdata/collision_convex/100spheremesh.xml
@@ -0,0 +1,18 @@
+<mujoco model="100 sphere meshes in a box">
+  <option solver="CG" iterations="10"/>
+  <asset>
+    <mesh name="sphere" file="sphere.obj" scale=".1 .1 .1"/>
+  </asset>
+  <worldbody>
+    <geom name="ground" type="plane" size=".5 .5 .01" condim="1"/>
+    <replicate count="4" euler="0 0 90">
+      <geom type="plane" size=".1 .5 .01" zaxis="1 0 0"  pos="-.5 0 .1"/>
+    </replicate>
+    <replicate count="100" offset="0 0 .5">
+      <body pos="0 0 1">
+        <freejoint/>
+        <geom type="mesh" mesh="sphere"/>
+      </body>
+    </replicate>
+  </worldbody>
+</mujoco>
diff --git a/test/engine/testdata/collision_convex/sphere.obj b/test/engine/testdata/collision_convex/sphere.obj
new file mode 100644
index 00000000..f15c906c
--- /dev/null
+++ b/test/engine/testdata/collision_convex/sphere.obj
@@ -0,0 +1,2563 @@
+# Unit sphere with 2562 vertices
+v 0.000000 1.000000 0.000000
+v -0.029136 0.999219 0.026691
+v 0.004884 0.998438 -0.055655
+v 0.041624 0.997657 0.054292
+v -0.077772 0.996876 -0.013757
+v 0.074491 0.996095 -0.047385
+v -0.025102 0.995314 0.093377
+v -0.048127 0.994533 -0.092667
+v 0.104835 0.993752 0.038285
+v -0.109400 0.992971 0.045159
+v 0.052867 0.992191 -0.112973
+v 0.039144 0.991410 0.124799
+v -0.118173 0.990629 -0.068484
+v 0.138817 0.989848 -0.030518
+v -0.084813 0.989067 0.120638
+v -0.019613 0.988286 -0.151349
+v 0.120500 0.987505 0.101557
+v -0.162268 0.986724 0.006710
+v 0.118433 0.985943 -0.117856
+v -0.007928 0.985162 0.171444
+v -0.112797 0.984381 -0.135169
+v 0.178752 0.983600 0.024051
+v -0.151507 0.982819 0.105414
+v 0.041412 0.982038 -0.184081
+v 0.095808 0.981257 0.167197
+v -0.187335 0.980476 -0.059765
+v 0.182004 0.979695 -0.084091
+v -0.078861 0.978914 0.188434
+v -0.070391 0.978134 -0.195704
+v 0.187321 0.977353 0.098451
+v -0.208085 0.976572 0.054850
+v 0.118285 0.975791 -0.183960
+v 0.037629 0.975010 0.218952
+v -0.178335 0.974229 -0.138112
+v 0.228127 0.973448 -0.018900
+v -0.157685 0.972667 0.170453
+v 0.001149 0.971886 -0.235449
+v 0.160347 0.971105 0.176759
+v -0.240776 0.970324 -0.022315
+v 0.195094 0.969543 -0.148069
+v -0.044386 0.968762 0.243987
+v -0.133696 0.967981 -0.212456
+v 0.244981 0.967200 0.067139
+v -0.228623 0.966419 0.117325
+v 0.090342 0.965638 -0.243682
+v 0.099077 0.964857 0.243380
+v -0.240033 0.964077 -0.113756
+v 0.256527 0.963296 -0.079090
+v -0.137140 0.962515 0.234005
+v -0.057524 0.961734 -0.267879
+v 0.225589 0.960953 0.160248
+v -0.277265 0.960172 0.034555
+v 0.182836 0.959391 -0.214803
+v 0.010376 0.958610 0.284534
+v -0.201687 0.957829 -0.204661
+v 0.289551 0.957048 0.014805
+v -0.225484 0.956267 0.186306
+v 0.040768 0.955486 -0.292206
+v 0.168749 0.954705 0.245075
+v -0.292407 0.953924 -0.067282
+v 0.263210 0.953143 -0.149125
+v -0.094107 0.952362 0.290086
+v -0.127566 0.951581 -0.279678
+v 0.285199 0.950800 0.120996
+v -0.294278 0.950020 0.104227
+v 0.147698 0.949239 -0.277725
+v 0.079280 0.948458 0.306827
+v -0.267669 0.947677 -0.173960
+v 0.317157 0.946896 -0.052915
+v -0.199530 0.946115 0.255058
+v -0.025339 0.945334 -0.325118
+v 0.239946 0.944553 0.224155
+v -0.330581 0.943772 -0.003225
+v 0.247591 0.942991 -0.222410
+v -0.032544 0.942210 0.333438
+v -0.202552 0.941429 -0.269600
+v 0.333603 0.940648 0.062372
+v -0.289951 0.939867 0.180494
+v 0.092455 0.939086 -0.331012
+v 0.156384 0.938305 0.308427
+v -0.325628 0.937524 -0.122533
+v 0.324824 0.936743 -0.130388
+v -0.152340 0.935963 0.317438
+v -0.102695 0.935182 -0.338953
+v 0.306452 0.934401 0.181612
+v -0.350643 0.933620 0.073509
+v 0.210082 0.932839 -0.292707
+v 0.043053 0.932058 0.359743
+v -0.276267 0.931277 -0.237487
+v 0.366120 0.930496 -0.011563
+v -0.263570 0.929715 0.257218
+v 0.020710 0.928934 -0.369666
+v 0.235672 0.928153 0.288081
+v -0.370295 0.927372 -0.053506
+v 0.310781 0.926591 -0.211764
+v -0.086555 0.925810 0.367945
+v -0.185652 0.925029 -0.331443
+v 0.362581 0.924248 0.119583
+v -0.349852 0.923467 0.157517
+v 0.152309 0.922686 -0.354192
+v 0.127558 0.921906 0.365813
+v -0.342793 0.921125 -0.184453
+v 0.379147 0.920344 -0.095996
+v -0.215733 0.919563 0.328426
+v -0.063065 0.918782 -0.389696
+v 0.311160 0.918001 0.245874
+v -0.397323 0.917220 0.029017
+v 0.274603 0.916439 -0.291089
+v -0.005882 0.915658 0.401915
+v -0.268332 0.914877 -0.301659
+v 0.403383 0.914096 0.041359
+v -0.326788 0.913315 0.243033
+v 0.077127 0.912534 -0.401663
+v 0.215360 0.911753 0.349752
+v -0.396716 0.910972 -0.112896
+v 0.370325 0.910191 -0.185503
+v -0.148372 0.909410 0.388534
+v -0.153673 0.908629 -0.388300
+v 0.377131 0.907848 0.183257
+v -0.403490 0.907068 0.120102
+v 0.217256 0.906287 -0.362553
+v 0.085038 0.905506 0.415726
+v -0.344869 0.904725 -0.250077
+v 0.424864 0.903944 -0.048745
+v -0.281434 0.903163 0.324179
+v -0.011502 0.902382 -0.430784
+v 0.300606 0.901601 0.311050
+v -0.433389 0.900820 -0.026401
+v 0.338658 0.900039 -0.274300
+v -0.064666 0.899258 0.432612
+v -0.245438 0.898477 -0.364004
+v 0.428410 0.897696 0.102987
+v -0.386852 0.896915 0.214216
+v 0.141054 0.896134 -0.420770
+v 0.180856 0.895353 0.406981
+v -0.409705 0.894572 -0.178554
+v 0.424191 0.893791 -0.145598
+v -0.215178 0.893011 0.395260
+v -0.108701 0.892230 -0.438304
+v 0.377506 0.891449 0.250617
+v -0.449165 0.890668 0.070442
+v 0.284570 0.889887 -0.356541
+v 0.031111 0.889106 0.456643
+v -0.332494 0.888325 -0.316744
+v 0.460635 0.887544 0.008990
+v -0.346857 0.886763 0.305518
+v 0.049547 0.885982 -0.461065
+v 0.275793 0.885201 0.374642
+v -0.457884 0.884420 -0.090241
+v 0.399847 0.883639 -0.243524
+v -0.130747 0.882858 0.451073
+v -0.208937 0.882077 -0.422238
+v 0.440642 0.881296 0.170738
+v -0.441602 0.880515 0.172281
+v 0.209888 0.879734 -0.426631
+v 0.133825 0.878954 0.457746
+v -0.409110 0.878173 -0.247875
+v 0.470505 0.877392 -0.093854
+v -0.284381 0.876611 0.388177
+v -0.052671 0.875830 -0.479737
+v 0.363960 0.875049 0.319097
+v -0.485328 0.874268 0.010590
+v 0.351727 0.873487 -0.336614
+v -0.032065 0.872706 0.487192
+v -0.306321 0.871925 -0.381987
+v 0.485272 0.871144 0.074960
+v -0.409610 0.870363 0.273291
+v 0.117757 0.869582 -0.479542
+v 0.237755 0.868801 0.434347
+v -0.470005 0.868020 -0.160114
+v 0.455970 0.867239 -0.199968
+v -0.201690 0.866458 0.456696
+v -0.160206 0.865677 -0.474275
+v 0.439680 0.864897 0.242148
+v -0.489080 0.864116 0.118764
+v 0.281154 0.863335 -0.419053
+v 0.075952 0.862554 0.500232
+v -0.394942 0.861773 -0.318385
+v 0.507605 0.860992 -0.032096
+v -0.353527 0.860211 0.367500
+v 0.012469 0.859430 -0.511102
+v 0.336911 0.858649 0.386281
+v -0.510655 0.857868 -0.057397
+v 0.416364 0.857087 -0.303386
+v -0.102336 0.856306 0.506228
+v -0.267160 0.855525 -0.443511
+v 0.497818 0.854744 0.146932
+v -0.467481 0.853963 0.228492
+v 0.190830 0.853182 -0.485452
+v 0.187664 0.852401 0.488051
+v -0.469189 0.851620 -0.233675
+v 0.505028 0.850840 -0.144977
+v -0.275121 0.850059 0.449120
+v -0.100751 0.849278 -0.518244
+v 0.425367 0.848497 0.314827
+v -0.527558 0.847716 0.055318
+v 0.352464 0.846935 -0.398084
+v 0.009027 0.846154 0.532862
+v -0.367451 0.845373 -0.387717
+v 0.534077 0.844592 0.037768
+v -0.420287 0.843811 0.333679
+v 0.084702 0.843030 -0.531155
+v 0.297006 0.842249 0.449893
+v -0.524083 0.841468 -0.131408
+v 0.476276 0.840687 -0.257695
+v -0.177517 0.839906 0.512879
+v -0.216029 0.839125 -0.499199
+v 0.497595 0.838344 0.222660
+v -0.518454 0.837563 0.172317
+v 0.266475 0.836783 -0.478316
+v 0.126883 0.836002 0.533856
+v -0.455157 0.835221 -0.308607
+v 0.545252 0.834440 -0.080069
+v -0.348711 0.833659 0.428268
+v -0.032230 0.832878 -0.552518
+v 0.397828 0.832097 0.386456
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diff --git a/test/user/user_model_test.cc b/test/user/user_model_test.cc
index c247d492..5938d8e7 100644
--- a/test/user/user_model_test.cc
+++ b/test/user/user_model_test.cc
@@ -350,6 +350,57 @@ TEST_F(UserModelTest, ConvexHullForCollisionMeshes) {
   EXPECT_NE(model->mesh_graphadr[with_hull_conaffinity_id], -1);
 }
 
+TEST_F(UserModelTest, MeshExtremaValidIndices) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <asset>
+      <mesh name="test_mesh" vertex="0 0 0  1 0 0  0 1 0  0 0 1"
+            face="0 2 1  0 1 3  0 3 2  1 2 3"/>
+    </asset>
+    <worldbody>
+      <geom name="test_geom" type="mesh" mesh="test_mesh"/>
+    </worldbody>
+  </mujoco>)";
+
+  std::array<char, 1024> error;
+  MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model.get(), NotNull()) << error.data();
+
+  int mesh_id = mj_name2id(model.get(), mjOBJ_MESH, "test_mesh");
+  EXPECT_NE(mesh_id, -1);
+  EXPECT_NE(model->mesh_graphadr[mesh_id], -1);
+
+  const float* verts = model->mesh_vert + 3 * model->mesh_vertadr[mesh_id];
+  const int* graph = model->mesh_graph + model->mesh_graphadr[mesh_id];
+  const int* vert_globalid = graph + 2 + graph[0];
+
+  int k = 0;
+  for (int cx = -1; cx <= 1; cx++) {
+    for (int cy = -1; cy <= 1; cy++) {
+      for (int cz = -1; cz <= 1; cz++) {
+        int v_idx = model->mesh_extrema[mesh_id * 27 + k];
+        EXPECT_GE(v_idx, 0);
+        EXPECT_LT(v_idx, graph[0]);
+
+        int global_id = vert_globalid[v_idx];
+        float max_dot = verts[3 * global_id + 0] * cx +
+                        verts[3 * global_id + 1] * cy +
+                        verts[3 * global_id + 2] * cz;
+
+        // verify no other vertex yields a strictly greater dot product.
+        for (int i = 0; i < graph[0]; i++) {
+          int other_gid = vert_globalid[i];
+          float dot = verts[3 * other_gid + 0] * cx +
+                      verts[3 * other_gid + 1] * cy +
+                      verts[3 * other_gid + 2] * cz;
+          EXPECT_LE(dot, max_dot);
+        }
+        k++;
+      }
+    }
+  }
+}
+
 TEST_F(UserModelTest, ConvexHullForPairCollisionMeshes) {
   static constexpr char xml[] = R"(
   <mujoco>
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 677500fe..8a8d4e1b 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -1387,6 +1387,7 @@ public unsafe struct mjModel_ {
   public int* mesh_texcoordadr;
   public int* mesh_texcoordnum;
   public int* mesh_graphadr;
+  public int* mesh_extrema;
   public float* mesh_vert;
   public float* mesh_normal;
   public float* mesh_texcoord;
diff --git a/wasm/codegen/generated/bindings.cc b/wasm/codegen/generated/bindings.cc
index 2c103d22..58025338 100644
--- a/wasm/codegen/generated/bindings.cc
+++ b/wasm/codegen/generated/bindings.cc
@@ -5122,6 +5122,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .property("mat_texuniform", &MjModel::mat_texuniform)
     .property("mesh_bvhadr", &MjModel::mesh_bvhadr)
     .property("mesh_bvhnum", &MjModel::mesh_bvhnum)
+    .property("mesh_extrema", &MjModel::mesh_extrema)
     .property("mesh_face", &MjModel::mesh_face)
     .property("mesh_faceadr", &MjModel::mesh_faceadr)
     .property("mesh_facenormal", &MjModel::mesh_facenormal)
diff --git a/wasm/codegen/generated/bindings.h b/wasm/codegen/generated/bindings.h
index 9b235bd4..02ecfd13 100644
--- a/wasm/codegen/generated/bindings.h
+++ b/wasm/codegen/generated/bindings.h
@@ -5100,6 +5100,9 @@ struct MjModel {
   emscripten::val mesh_graphadr() const {
     return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_graphadr));
   }
+  emscripten::val mesh_extrema() const {
+    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 27, ptr_->mesh_extrema));
+  }
   emscripten::val mesh_vert() const {
     return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshvert * 3, ptr_->mesh_vert));
   }