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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.

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PiperOrigin-RevId: 959645299
Change-Id: I032ae534704e0cc440ddb7691fd21a29a359f521
This commit is contained in:
Kyle Bayes
2026-08-05 07:22:01 -07:00
committed by Copybara-Service
parent 1362a8bded
commit 83e621d771
14 changed files with 2708 additions and 2 deletions
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src/user/user_model.cc
+37
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@@ -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);