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Refactor and fold in code into Process in mjCMesh for caching.

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PiperOrigin-RevId: 736052216
Change-Id: Ia0e055fd99ce429b9dee97f3f9effbf2fa1aa4f9
This commit is contained in:
Kyle Bayes
2025-03-12 02:12:09 -07:00
committed by Copybara-Service
parent b9a23e8d0c
commit 995bbf0f0f
3 changed files with 264 additions and 298 deletions
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src/user/user_objects.h
+14 -19
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@@ -866,16 +866,7 @@ class mjCMesh_ : public mjCBase {
bool visual_; // true: the mesh is only visual
std::vector< std::pair<int, int> > halfedge_; // half-edge data
// mesh properties that indicate a well-formed mesh
std::pair<int, int> invalidorientation_; // indices of invalid edge; -1 if none
bool validarea_; // false if the area is too small
enum ValidVolume {
MeshNegativeVolume = -1,
MeshZeroVolume = 0,
MeshVolumeOK = 1
} validvolume_; // indicates if volume is valid
bool valideigenvalue_; // are inertia eigenvalues positive
bool validinequality_; // is inertia eigenvalue inequality satisfied
// mesh processed flags
bool processed_; // has the mesh been processed yet
bool transformed_; // has the mesh been transformed to CoM and inertial frame
@@ -972,7 +963,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
double* GetPosPtr(); // get position
double* GetQuatPtr(); // get orientation
double* GetInertiaBoxPtr(); // get inertia box
double& GetVolumeRef(); // get volume
double GetVolumeRef() const; // get volume
void FitGeom(mjCGeom* geom, double* meshpos); // approximate mesh with simple geom
bool HasTexcoord() const; // texcoord not null
void DelTexcoord(); // delete texcoord
@@ -1034,8 +1025,8 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
void MakeCenter(); // compute face circumcircle data
void Process(); // compute inertial properties
void ApplyTransformations(); // apply user transformations
void ComputeFaceCentroid(double[3]); // compute centroid of all faces
void CheckMesh(); // check if the mesh is valid
double ComputeFaceCentroid(double[3]) const; // compute centroid of all faces
void CheckInitialMesh() const; // check if initial mesh is valid
void CopyPlugin();
void Rotate(double quat[4]); // rotate mesh by quaternion
void Transform(double pos[3], double quat[4]); // transform mesh by position and quaternion
@@ -1043,7 +1034,11 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
void MakePolygonNormals(); // compute the normals of the polygons
// computes the inertia matrix of the mesh given the type of inertia
void ComputeInertia(double inert[6], double CoM[3]);
double ComputeInertia(double inert[6], const double CoM[3]) const;
int* GraphFaces() const {
return graph_ + 2 + 3*(graph_[0] + graph_[1]);
}
// mesh data to be copied into mjModel
double* center_; // face circumcenter data (3*nface)
@@ -1060,15 +1055,15 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
std::vector<int> texcoord_index_;
std::vector<face_vertices_type> num_face_vertices_;
// compute the volume and center-of-mass of the mesh given the face center
void ComputeVolume(double CoM[3], const double facecen[3]);
// compute the surface area and center-of-mass of the mesh given the face center
void ComputeSurfaceArea(double CoM[3], const double facecen[3]);
// compute the volume and center-of-mass of the mesh given the face centroid
double ComputeVolume(double CoM[3], const double facecen[3]) const;
// compute the surface area and center-of-mass of the mesh given the face centroid
double ComputeSurfaceArea(double CoM[3], const double facecen[3]) const;
};
//------------------------- class mjCSkin ----------------------------------------------------------
//------------------------- class mjCSkin ---------------------------------------------------------
// Describes a skin
class mjCSkin_ : public mjCBase {