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
2026-08-05 07:22:01 -07:00
parent 1362a8bded
commit 83e621d771
14 changed files with 2708 additions and 2 deletions
@@ -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