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Replace SdfLib with linear octree interpolation of TriangleMeshDistance.

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Temporary changes to the octree:
- Changed frame from mesh to geom

Before change (tolerance 1e-3):
```
 Simulation time      : 2.34 s
 Steps per second     : 4275
 Realtime factor      : 8.55 x
 Time per step        : 233.9 µs

 Newton iters / step  : 2.26
 Contacts / step      : 3.69
 Constraints / step   : 14.76
 Degrees of freedom   : 12
 Dynamic memory usage : 0.7% of 14M
```

After change (6 octree levels):
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781019754
Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
This commit is contained in:
Alessio Quaglino
2025-07-09 06:20:36 -07:00
committed by Copybara-Service
parent e6c5715903
commit b81f1db8af
8 changed files with 194 additions and 121 deletions
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plugin/sdf/CMakeLists.txt
+1 -1
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@@ -37,7 +37,7 @@ set(MUJOCO_SDF_SRCS
add_library(sdf_plugin SHARED)
target_sources(sdf_plugin PRIVATE ${MUJOCO_SDF_SRCS})
target_include_directories(sdf_plugin PRIVATE ${MUJOCO_SDF_INCLUDE})
target_link_libraries(sdf_plugin PRIVATE mujoco SdfLib)
target_link_libraries(sdf_plugin PRIVATE mujoco)
target_compile_options(
sdf_plugin
PRIVATE ${AVX_COMPILE_OPTIONS}