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

wasm/codegen/generated/bindings.cc

@@ -5122,6 +5122,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .property("mat_texuniform", &MjModel::mat_texuniform)
     .property("mesh_bvhadr", &MjModel::mesh_bvhadr)
     .property("mesh_bvhnum", &MjModel::mesh_bvhnum)
+    .property("mesh_extrema", &MjModel::mesh_extrema)
     .property("mesh_face", &MjModel::mesh_face)
     .property("mesh_faceadr", &MjModel::mesh_faceadr)
     .property("mesh_facenormal", &MjModel::mesh_facenormal)

wasm/codegen/generated/bindings.h

@@ -5100,6 +5100,9 @@ struct MjModel {
   emscripten::val mesh_graphadr() const {
     return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh, ptr_->mesh_graphadr));
   }
+  emscripten::val mesh_extrema() const {
+    return emscripten::val(emscripten::typed_memory_view(ptr_->nmesh * 27, ptr_->mesh_extrema));
+  }
   emscripten::val mesh_vert() const {
     return emscripten::val(emscripten::typed_memory_view(ptr_->nmeshvert * 3, ptr_->mesh_vert));
   }