Add configurable octree max depth for meshes.

The maximum depth of the octree used for SDF generation can now be specified in the mesh definition via `mjsMesh::octree_maxdepth`. The default value is 6. PiperOrigin-RevId: 912494999 Change-Id: I6d828d1d3999b99d1210a6829a05b04fac591e1f
2026-05-08 06:35:07 -07:00
parent 531a571dda
commit 8cef5bb978
9 changed files with 28 additions and 1 deletions
@@ -490,6 +490,7 @@ typedef struct mjsMesh_ {          // mesh specification
  mjIntVec* userfacetexcoord;      // user texcoord indices
  mjsPlugin plugin;                // sdf plugin
  mjString* material;              // name of material
+  int octree_maxdepth;             // max octree depth
  mjString* info;                  // message appended to compiler errors
 } mjsMesh;