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
@@ -1387,6 +1387,7 @@ public unsafe struct mjModel_ {
  public int* mesh_texcoordadr;
  public int* mesh_texcoordnum;
  public int* mesh_graphadr;
+  public int* mesh_extrema;
  public float* mesh_vert;
  public float* mesh_normal;
  public float* mesh_texcoord;