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

doc/includes/references.h

@@ -2294,6 +2294,7 @@ 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;
 typedef struct mjsHField_ {        // height field specification

include/mujoco/mjspec.h

@@ -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;
 

python/mujoco/introspect/structs.py

@@ -8461,6 +8461,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='name of material',
              ),
+             StructFieldDecl(
+                 name='octree_maxdepth',
+                 type=ValueType(name='int'),
+                 doc='max octree depth',
+             ),
              StructFieldDecl(
                  name='info',
                  type=PointerType(

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

test/user/user_mesh_test.cc

@@ -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);

wasm/codegen/generated/bindings.cc

@@ -6246,6 +6246,12 @@ struct MjsMesh {
       *(ptr_->material) = value;
     }
   }
+  int octree_maxdepth() const {
+    return ptr_->octree_maxdepth;
+  }
+  void set_octree_maxdepth(int value) {
+    ptr_->octree_maxdepth = value;
+  }
   mjString info() const {
     return (ptr_ && ptr_->info) ? *(ptr_->info) : "";
   }
@@ -12782,6 +12788,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
     .property("material", &MjsMesh::material, &MjsMesh::set_material, reference())
     .property("maxhullvert", &MjsMesh::maxhullvert, &MjsMesh::set_maxhullvert, reference())
     .property("needsdf", &MjsMesh::needsdf, &MjsMesh::set_needsdf, reference())
+    .property("octree_maxdepth", &MjsMesh::octree_maxdepth, &MjsMesh::set_octree_maxdepth, reference())
     .property("plugin", &MjsMesh::plugin, reference())
     .property("refpos", &MjsMesh::refpos)
     .property("refquat", &MjsMesh::refquat)