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Refactor octree in preparation for continuous interpolation.

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PiperOrigin-RevId: 792092644
Change-Id: I096ca0989210a00ae0b4556498d96212755d23c7
This commit is contained in:
Alessio Quaglino
2025-08-07 04:04:59 -07:00
committed by Copybara-Service
parent 4e67fe79f3
commit 840108cf7c
5 changed files with 123 additions and 39 deletions
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src/user/user_model.cc
+4 -9
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@@ -3001,15 +3001,10 @@ void mjCModel::CopyObjects(mjModel* m) {
// copy octree data
if (pme->octree().NumNodes()) {
int n_oct = pme->octree().NumNodes();
memcpy(m->oct_aabb + 6*oct_adr, pme->octree().Nodes().data(), 6*n_oct*sizeof(mjtNum));
memcpy(m->oct_child + 8*oct_adr, pme->octree().Child().data(), 8*n_oct*sizeof(int));
memcpy(m->oct_depth + oct_adr, pme->octree().Level().data(), n_oct*sizeof(int));
if (!pme->octree().Coeff().empty()) {
memcpy(m->oct_coeff + 8*oct_adr, pme->octree().Coeff().data(), 8*n_oct*sizeof(mjtNum));
} else {
mjuu_zerovec(m->oct_coeff + 8*oct_adr, 8*n_oct);
}
pme->octree().CopyAabb(m->oct_aabb + 6*oct_adr);
pme->octree().CopyChild(m->oct_child + 8*oct_adr);
pme->octree().CopyLevel(m->oct_depth + oct_adr);
pme->octree().CopyCoeff(m->oct_coeff + 8*oct_adr);
}
// advance counters