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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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test/engine/testdata/collision_convex/100spheremesh.xml
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<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>
test/engine/testdata/collision_convex/sphere.obj
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+2563
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test/user/user_model_test.cc
+51
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@@ -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>