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
@@ -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(