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Merge pull request #2390 from talregev:TalR/mesh

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PiperOrigin-RevId: 723916727
Change-Id: I0abb0a12121c9eb291ccbc6afa0b4117bd389956
This commit is contained in:
Copybara-Service
2025-02-06 06:46:40 -08:00
parent dec7b661c1 fd568d68d4
commit cb1696eb34
2 changed files with 6 additions and 3 deletions
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src/user/user_mesh.cc
+1 -2
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@@ -62,7 +62,6 @@
#include "user/user_objects.h" #include "user/user_objects.h"
#include "user/user_resource.h" #include "user/user_resource.h"
#include "user/user_util.h" #include "user/user_util.h"
#include <tiny_obj_loader.h>
extern "C" { extern "C" {
#include "qhull_ra.h" #include "qhull_ra.h"
@@ -395,7 +394,7 @@ void mjCMesh::CacheMesh(mjCCache* cache, const mjResource* resource,
+ (sizeof(int) * vertex_index_.size()) + (sizeof(int) * vertex_index_.size())
+ (sizeof(int) * normal_index_.size()) + (sizeof(int) * normal_index_.size())
+ (sizeof(int) * texcoord_index_.size()) + (sizeof(int) * texcoord_index_.size())
+ (sizeof(unsigned char) * num_face_vertices_.size()); + (sizeof(face_vertices_type) * num_face_vertices_.size());
std::shared_ptr<const void> cached_data(mesh, +[](const void* data) { std::shared_ptr<const void> cached_data(mesh, +[](const void* data) {
const mjCMesh* mesh = static_cast<const mjCMesh*>(data); const mjCMesh* mesh = static_cast<const mjCMesh*>(data);
src/user/user_objects.h
+5 -1
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@@ -31,6 +31,10 @@
#include <mujoco/mjspec.h> #include <mujoco/mjspec.h>
#include "user/user_cache.h" #include "user/user_cache.h"
#include "user/user_util.h" #include "user/user_util.h"
#include <tiny_obj_loader.h>
using face_vertices_type =
decltype(tinyobj::mesh_t::num_face_vertices)::value_type;
// forward declarations of all mjC/X classes // forward declarations of all mjC/X classes
class mjCError; class mjCError;
@@ -1010,7 +1014,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
std::vector<int> vertex_index_; std::vector<int> vertex_index_;
std::vector<int> normal_index_; std::vector<int> normal_index_;
std::vector<int> texcoord_index_; std::vector<int> texcoord_index_;
std::vector<unsigned char> num_face_vertices_; std::vector<face_vertices_type> num_face_vertices_;
// compute the volume and center-of-mass of the mesh given the face center // compute the volume and center-of-mass of the mesh given the face center
void ComputeVolume(double CoM[3], mjtGeomInertia gtype, const double facecen[3]); void ComputeVolume(double CoM[3], mjtGeomInertia gtype, const double facecen[3]);