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

src/user/user_init.c

@@ -243,6 +243,7 @@ void mjs_defaultMesh(mjsMesh* mesh) {
   mesh->scale[0] = mesh->scale[1] = mesh->scale[2] = 1;
   mesh->maxhullvert = -1;
   mesh->inertia = mjMESH_INERTIA_LEGACY;
+  mesh->octree_maxdepth = 6;
 }
 
 

src/user/user_mesh.cc

@@ -782,6 +782,7 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
     } else if (octree_.NumNodes() == 0) {
       std::vector<double> dvert(vert_.begin(), vert_.end());
       octree_.SetFace(dvert, face_);
+      octree_.SetMaxDepth(spec.octree_maxdepth);
       octree_.CreateOctree(aamm_);
       if (!plugin.active) {
         octree_.ComputeSdfCoeffs(dvert.data(), nvert(), face_.data(), nface(), tree_);
@@ -1532,6 +1533,7 @@ void mjCMesh::Process() {
   // make octree
   if (needsdf) {
     octree_.SetFace(dvert, face_);
+    octree_.SetMaxDepth(spec.octree_maxdepth);
     octree_.CreateOctree(aamm_);
 
     if (!plugin.active) {

src/user/user_objects.cc

@@ -1285,7 +1285,7 @@ void mjCOctree::MakeOctree(const std::vector<Triangle*>& elements, const double
     }
 
     // skip if the box is empty
-    if (colliding.empty() || task.lev >= 6) {
+    if (colliding.empty() || task.lev >= max_depth_) {
       continue;
     }
 

src/user/user_objects.h

@@ -270,6 +270,7 @@ struct OctreeTask {
 struct mjCOctree_ {
   int nnode_ = 0;
   int nvert_ = 0;
+  int max_depth_ = 6;                   // max octree depth (default 6)
   std::vector<OctNode> node_;
   std::vector<Triangle> face_;          // mesh faces                (nmeshface x 3)
   std::vector<Point> vert_;             // octree vertices           (nvert x 3)
@@ -308,6 +309,10 @@ class mjCOctree : public mjCOctree_ {
   void AddCoeff(int n, int v, double coeff) { node_[n].coeff[v] = coeff; }
   double Coeff(int n, int v) const { return node_[n].coeff[v]; }
 
+  // Set max octree depth (default 6)
+  void SetMaxDepth(int depth) { max_depth_ = depth; }
+  int MaxDepth() const { return max_depth_; }
+
   // Set number of Laplacian smoothing iterations (0 = disabled, default)
   void SetSmoothingIterations(int iterations) { smoothing_iterations_ = iterations; }
   int SmoothingIterations() const { return smoothing_iterations_; }
@@ -1208,6 +1213,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
 
   // octree
   const mjCOctree& octree() { return octree_; }
+  mjCOctree& mutable_octree() { return octree_; }
 
   void Compile(const mjVFS* vfs);                   // compiler
   double* GetPosPtr();                              // get position