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Move tree construction to helper class.

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PiperOrigin-RevId: 525171924
Change-Id: I28b572fa09a2ccc029e56f9a84808ac53a4e6ac9
This commit is contained in:
Alessio Quaglino
2023-04-18 09:41:55 -07:00
committed by Copybara-Service
parent 94c4f72907
commit b25728cc2e
3 changed files with 199 additions and 170 deletions
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src/user/user_model.cc
+8 -8
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@@ -928,7 +928,7 @@ void mjCModel::SetSizes(void) {
// nbvh
for (int i=0; i<nbody; i++) {
nbvh += bodies[i]->nbvh;
nbvh += bodies[i]->tree.nbvh;
}
// nmeshvert, nmeshface, nmeshtexcoord, nmeshgraph
@@ -1346,14 +1346,14 @@ void mjCModel::CopyTree(mjModel* m) {
// bounding volume hierarchy
m->body_bvhadr[i] = (!pb->geoms.empty() ? bvh_adr : -1);
m->body_bvhnum[i] = pb->nbvh;
if (pb->nbvh) {
memcpy(m->bvh_aabb + 6*bvh_adr, pb->bvh.data(), 6*pb->nbvh*sizeof(mjtNum));
memcpy(m->bvh_child + 2*bvh_adr, pb->child.data(), 2*pb->nbvh*sizeof(int));
memcpy(m->bvh_geomid + bvh_adr, pb->nodeid.data(), pb->nbvh*sizeof(int));
memcpy(m->bvh_depth + bvh_adr, pb->level.data(), pb->nbvh*sizeof(int));
m->body_bvhnum[i] = pb->tree.nbvh;
if (pb->tree.nbvh) {
memcpy(m->bvh_aabb + 6*bvh_adr, pb->tree.bvh.data(), 6*pb->tree.nbvh*sizeof(mjtNum));
memcpy(m->bvh_child + 2*bvh_adr, pb->tree.child.data(), 2*pb->tree.nbvh*sizeof(int));
memcpy(m->bvh_geomid + bvh_adr, pb->tree.nodeid.data(), pb->tree.nbvh*sizeof(int));
memcpy(m->bvh_depth + bvh_adr, pb->tree.level.data(), pb->tree.nbvh*sizeof(int));
}
bvh_adr += pb->nbvh;
bvh_adr += pb->tree.nbvh;
// count free joints
int cntfree = 0;