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Add saving the indices of mesh vertices with the support points in nativeccd.

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PiperOrigin-RevId: 725660975
Change-Id: I036882a5bde5d009bfa6e66b6a10f6cfb1a78292
This commit is contained in:
Kyle Bayes
2025-02-11 09:27:59 -08:00
committed by Copybara-Service
parent ac2a324fbd
commit e3b9538d92
4 changed files with 188 additions and 188 deletions
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src/engine/engine_collision_convex.c
+5 -3
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@@ -347,8 +347,8 @@ static void mjc_meshSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
int imax = 0;
// used cached results from previous search
if (obj->meshindex >= 0) {
imax = obj->meshindex;
if (obj->vertindex >= 0) {
imax = obj->vertindex;
max = dot3f(local_dir, verts + 3*imax);
}
@@ -364,7 +364,7 @@ static void mjc_meshSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[3]) {
}
// record vertex index of maximum
obj->meshindex = imax;
obj->vertindex = imax;
local_dir[0] = (mjtNum)verts[3*imax + 0];
local_dir[1] = (mjtNum)verts[3*imax + 1];
@@ -416,6 +416,7 @@ static void mjc_hillclimbSupport(mjtNum res[3], mjCCDObj* obj, const mjtNum dir[
// get resulting support vertex
imax = 3*vert_globalid[imax];
obj->vertindex = imax / 3;
local_dir[0] = (mjtNum)verts[imax + 0];
local_dir[1] = (mjtNum)verts[imax + 1];
local_dir[2] = (mjtNum)verts[imax + 2];
@@ -711,6 +712,7 @@ void mjc_initCCDObj(mjCCDObj* obj, const mjModel* m, const mjData* d, int g, mjt
obj->geom = g;
obj->margin = margin;
obj->center = mjc_center;
obj->vertindex = -1;
obj->meshindex = -1;
obj->flex = -1;
obj->elem = -1;