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
@@ -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)
@@ -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                    ) \