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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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src/user/user_objects.cc
+5 -1
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@@ -583,12 +583,16 @@ void mjCOctree::Make(std::vector<Triangle>& elements) {
void mjCOctree::CreateOctree(const double aamm[6]) {
double aabb[6] = {(aamm[0] + aamm[3]) / 2, (aamm[1] + aamm[4]) / 2, (aamm[2] + aamm[5]) / 2,
(aamm[3] - aamm[0]) / 2, (aamm[4] - aamm[1]) / 2, (aamm[5] - aamm[2]) / 2};
double box[6] = {aabb[0] - 1.1 * aabb[3], aabb[1] - 1.1 * aabb[4], aabb[2] - 1.1 * aabb[5],
aabb[0] + 1.1 * aabb[3], aabb[1] + 1.1 * aabb[4], aabb[2] + 1.1 * aabb[5]};
std::vector<Triangle> elements;
Make(elements);
std::vector<Triangle*> elements_ptrs(elements.size());
std::transform(elements.begin(), elements.end(), elements_ptrs.begin(),
[](Triangle& triangle) { return &triangle; });
MakeOctree(elements_ptrs, aamm);
MakeOctree(elements_ptrs, box);
}