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Tighter axis-aligned bounding box for meshes.

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PiperOrigin-RevId: 516166936
Change-Id: Ie99217f8894bdd4bb093900fc0df9d4a1e5030d3
This commit is contained in:
Alessio Quaglino
2023-03-13 03:53:35 -07:00
committed by Copybara-Service
parent 2f03da740a
commit ae2c530d8b
3 changed files with 22 additions and 32 deletions
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src/user/user_objects.cc
+9 -4
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@@ -1166,6 +1166,7 @@ void mjCGeom::SetInertia(void) {
// compute radius of bounding sphere
double mjCGeom::GetRBound(void) {
double* aabb;
double haabb[3] = {0};
switch (type) {
case mjGEOM_SPHERE:
@@ -1185,7 +1186,10 @@ double mjCGeom::GetRBound(void) {
case mjGEOM_MESH:
aabb = model->meshes[meshid]->aabb;
return sqrt(aabb[0]*aabb[0]+aabb[1]*aabb[1]+aabb[2]*aabb[2]);
haabb[0] = mjMAX(fabs(aabb[0]), fabs(aabb[3]));
haabb[1] = mjMAX(fabs(aabb[1]), fabs(aabb[4]));
haabb[2] = mjMAX(fabs(aabb[2]), fabs(aabb[5]));
return sqrt(haabb[0]*haabb[0] + haabb[1]*haabb[1] + haabb[2]*haabb[2]);
default:
return 0;
@@ -1433,9 +1437,10 @@ void mjCGeom::Compile(void) {
size[1] = model->hfields[hfieldid]->size[1];
size[2] = 0.5*(model->hfields[hfieldid]->size[2]+model->hfields[hfieldid]->size[3]);
} else if (type==mjGEOM_MESH) {
size[0] = model->meshes[meshid]->aabb[0];
size[1] = model->meshes[meshid]->aabb[1];
size[2] = model->meshes[meshid]->aabb[2];
double* aabb = model->meshes[meshid]->aabb;
size[0] = mjMAX(fabs(aabb[0]), fabs(aabb[3]));
size[1] = mjMAX(fabs(aabb[1]), fabs(aabb[4]));
size[2] = mjMAX(fabs(aabb[2]), fabs(aabb[5]));
}
// compute geom mass and inertia