chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add configurable octree max depth for meshes.

Browse Source 
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
This commit is contained in:
Alessio Quaglino
2026-05-08 06:35:07 -07:00
committed by Copybara-Service
parent 531a571dda
commit 8cef5bb978
9 changed files with 28 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_mesh_test.cc
+4
View File
@@ -1501,6 +1501,8 @@ TEST_F(MjCMeshTest, OctreeIsBalanced) {
mjSpec* spec = mj_parseXML(xml_path.c_str(), 0, error.data(), error.size());
mjsGeom* geom = mjs_asGeom(mjs_firstElement(spec, mjOBJ_GEOM));
geom->type = mjGEOM_SDF;
mjsMesh* mesh = mjs_asMesh(mjs_firstElement(spec, mjOBJ_MESH));
mesh->octree_maxdepth = 5;
mjModel* model = mj_compile(spec, 0);
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_GT(model->mesh_octnum[0], 0);
@@ -1564,6 +1566,8 @@ TEST_F(MjCMeshTest, OctreeHangingNodeInterpolation) {
mjSpec* spec = mj_parseXML(xml_path.c_str(), 0, error.data(), error.size());
mjsGeom* geom = mjs_asGeom(mjs_firstElement(spec, mjOBJ_GEOM));
geom->type = mjGEOM_SDF;
mjsMesh* mesh = mjs_asMesh(mjs_firstElement(spec, mjOBJ_MESH));
mesh->octree_maxdepth = 5;
mjModel* model = mj_compile(spec, 0);
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_GT(model->mesh_octnum[0], 0);