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Cache SDF octree.

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PiperOrigin-RevId: 781500550
Change-Id: I0077d41f13be0243bff292534cc6bce2bdc1caa4
This commit is contained in:
Alessio Quaglino
2025-07-10 06:04:31 -07:00
committed by Copybara-Service
parent fbea72d767
commit d81ab17bf5
1 changed files with 31 additions and 30 deletions
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src/user/user_mesh.cc
+31 -30
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@@ -362,6 +362,7 @@ void mjCMesh::LoadSDF() {
} }
needreorient_ = false; needreorient_ = false;
needoct_ = false;
normal_ = std::move(usernormal); normal_ = std::move(usernormal);
face_ = std::move(userface); face_ = std::move(userface);
ProcessVertices(uservert); ProcessVertices(uservert);
@@ -631,8 +632,7 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
resource_ = LoadResource(modelfiledir_.Str(), filename.Str(), vfs); resource_ = LoadResource(modelfiledir_.Str(), filename.Str(), vfs);
// try loading from cache // try loading from cache
// TODO: move octree to mesh frame so it can be cached if (cache != nullptr && LoadCachedMesh(cache, resource_)) {
if (cache != nullptr && !needoct_ && LoadCachedMesh(cache, resource_)) {
mju_closeResource(resource_); mju_closeResource(resource_);
resource_ = nullptr; resource_ = nullptr;
fromCache = true; fromCache = true;
@@ -682,12 +682,39 @@ void mjCMesh::TryCompile(const mjVFS* vfs) {
// compute mesh properties // compute mesh properties
if (!fromCache) { if (!fromCache) {
Process(); Process();
}
if (!file_.empty()) { // make octree
CacheMesh(cache, resource_); if (!needoct_) {
octree_.Clear(); // this occurs when a non-SDF mesh is loaded from a cached SDF mesh
} else if (octree_.Nodes().empty()) {
octree_.SetFace(vert_, face_);
octree_.CreateOctree(aamm_);
// compute sdf coefficients
if (!plugin.active) {
tmd::TriangleMeshDistance sdf(vert_.data(), nvert(), face_.data(), nface());
// TODO: do not evaluate the SDF multiple times at the same vertex
// TODO: the value at hanging vertices should be computed from the parent
const double* nodes = octree_.Nodes().data();
for (int i = 0; i < octree_.NumNodes(); ++i) {
for (int j = 0; j < 8; j++) {
mjtNum v[3];
v[0] = nodes[6*i+0] + (j&1 ? 1 : -1) * nodes[6*i+3];
v[1] = nodes[6*i+1] + (j&2 ? 1 : -1) * nodes[6*i+4];
v[2] = nodes[6*i+2] + (j&4 ? 1 : -1) * nodes[6*i+5];
octree_.AddCoeff(sdf.signed_distance(v).distance);
}
}
} }
} }
// cache mesh
if (!fromCache && !file_.empty()) {
CacheMesh(cache, resource_);
}
// close resource // close resource
if (resource_ != nullptr) { if (resource_ != nullptr) {
mju_closeResource(resource_); mju_closeResource(resource_);
@@ -1549,32 +1576,6 @@ void mjCMesh::Process() {
} }
Rotate(quattmp); Rotate(quattmp);
// make octree in mesh frame
if (!needoct_) {
octree_.Clear();
} else if (octree_.Nodes().empty()) {
octree_.SetFace(vert_, face_);
octree_.CreateOctree(aamm_);
// compute sdf coefficients
if (!plugin.active) {
tmd::TriangleMeshDistance sdf(vert_.data(), nvert(), face_.data(), nface());
// TODO: do not evaluate the SDF multiple times at the same vertex
// TODO: the value at hanging vertices should be computed from the parent
const double* nodes = octree_.Nodes().data();
for (int i = 0; i < octree_.NumNodes(); ++i) {
for (int j = 0; j < 8; j++) {
mjtNum v[3];
v[0] = nodes[6*i+0] + (j&1 ? 1 : -1) * nodes[6*i+3];
v[1] = nodes[6*i+1] + (j&2 ? 1 : -1) * nodes[6*i+4];
v[2] = nodes[6*i+2] + (j&4 ? 1 : -1) * nodes[6*i+5];
octree_.AddCoeff(sdf.signed_distance(v).distance);
}
}
}
}
// save the pos and quat that was used to transform the mesh // save the pos and quat that was used to transform the mesh
mjuu_copyvec(pos_, CoM, 3); mjuu_copyvec(pos_, CoM, 3);
mjuu_copyvec(quat_, quattmp, 4); mjuu_copyvec(quat_, quattmp, 4);