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Expose mjv_flexBodyIdAndPoint as a helper function.

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Use the above in studio rather than a custom implementation.

PiperOrigin-RevId: 928432476
Change-Id: I99d772c4baf7260abbf9ac8f6d8032704f1ba769
This commit is contained in:
Haroon Qureshi
2026-06-08 02:27:55 -07:00
committed by Copybara-Service
parent ea2d785e0a
commit b17b5f7918
3 changed files with 53 additions and 69 deletions
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src/experimental/platform/ux/interaction.cc
+2 -29
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@@ -21,6 +21,7 @@
#include <mujoco/mujoco.h>
#include "engine/engine_util_errmem.h"
#include "engine/engine_util_misc.h"
#include "engine/engine_vis_interact.h"
#include "engine/engine_vis_visualize.h"
namespace mujoco::platform {
@@ -376,36 +377,8 @@ static PickResult PickFlex(const mjModel* m, const mjData* d,
}
result.dist = test_dist;
if (m->flex_interp[i]) {
const mjtNum* coord = m->flex_vert0 + 3 * (m->flex_vertadr[i] + vertid);
mjtNum w = 0;
int nodeid = -1;
int nstart = m->flex_nodeadr[i];
int nend = nstart + m->flex_nodenum[i];
for (int j = nstart; j < nend; j++) {
if (mju_evalBasis(coord, j - nstart, m->flex_interp[i]) > w) {
w = mju_evalBasis(coord, j - nstart, m->flex_interp[i]);
nodeid = j;
}
}
if (nodeid < 0) {
mjERROR("flex %d: node closest to vertex %d not found", i, vertid);
}
result.body = m->flex_nodebodyid[m->flex_nodeadr[i] + nodeid];
if (m->flex_centered[i]) {
mju_copy3(result.point, d->xpos + 3 * result.body);
} else {
mju_mulMatVec3(result.point, d->xmat + 9 * result.body,
m->flex_node + 3 * nodeid);
mju_addTo3(result.point, d->xpos + 3 * result.body);
}
} else {
result.body = m->flex_vertbodyid[m->flex_vertadr[i] + vertid];
mju_copy3(result.point,
d->flexvert_xpos + 3 * (m->flex_vertadr[i] + vertid));
}
result.flex = i;
result.body = mjv_flexBodyId(m, d, i, vertid, result.point);
}
return result;
}