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Fix comments in meshNormals.

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PiperOrigin-RevId: 791169316
Change-Id: I540f06a56862774ae0feb666ab38762853cb1c36
This commit is contained in:
Kyle Bayes
2025-08-05 05:26:40 -07:00
committed by Copybara-Service
parent 996f0040fd
commit e543ba95c5
1 changed files with 5 additions and 3 deletions
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src/engine/engine_collision_gjk.c
+5 -3
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@@ -1723,7 +1723,7 @@ static inline void globalcoord(mjtNum res[3], const mjtNum mat[9], const mjtNum
// find up to n <= 2 common integers of two arrays, return n // find up to n <= 2 common integers of two arrays, return n
static int intersect(int res[2], const int* arr1, const int* arr2, int n, int m) { static int intersect(int res[2], const int* arr1, const int* arr2, int n, int m) {
int count = 0; int count = 0;
for (int i = 0; i < n; i++) { for (int i = 0; i < n; i++) {
@@ -1765,7 +1765,7 @@ static int meshNormals(mjtNum* res, int resind[3], int dim, mjCCDObj* obj,
n = intersect(faceset, edgeset, m->mesh_polymap + v3_adr, n, v3_num); n = intersect(faceset, edgeset, m->mesh_polymap + v3_adr, n, v3_num);
if (n == 0) return 0; if (n == 0) return 0;
// three vertices defined an unique face // three vertices on mesh define a unique face
mjtNum* normal = m->mesh_polynormal + 3*(polyadr + faceset[0]); mjtNum* normal = m->mesh_polynormal + 3*(polyadr + faceset[0]);
globalcoord(res, mat, NULL, normal[0], normal[1], normal[2]); globalcoord(res, mat, NULL, normal[0], normal[1], normal[2]);
resind[0] = faceset[0]; resind[0] = faceset[0];
@@ -1779,7 +1779,7 @@ static int meshNormals(mjtNum* res, int resind[3], int dim, mjCCDObj* obj,
int v2_adr = m->mesh_polymapadr[vertadr + v2]; int v2_adr = m->mesh_polymapadr[vertadr + v2];
int v2_num = m->mesh_polymapnum[vertadr + v2]; int v2_num = m->mesh_polymapnum[vertadr + v2];
// up to two faces if vertices defined an edge // up to two faces as vertices on mesh define an edge
int edgeset[2]; int edgeset[2];
int n = intersect(edgeset, m->mesh_polymap + v1_adr, m->mesh_polymap + v2_adr, v1_num, v2_num); int n = intersect(edgeset, m->mesh_polymap + v1_adr, m->mesh_polymap + v2_adr, v1_num, v2_num);
if (n == 0) return 0; if (n == 0) return 0;
@@ -1794,6 +1794,8 @@ static int meshNormals(mjtNum* res, int resind[3], int dim, mjCCDObj* obj,
if (dim == 1) { if (dim == 1) {
int v1_adr = m->mesh_polymapadr[vertadr + v1]; int v1_adr = m->mesh_polymapadr[vertadr + v1];
int v1_num = m->mesh_polymapnum[vertadr + v1]; int v1_num = m->mesh_polymapnum[vertadr + v1];
// cap number of possible faces intersecting at a vertex
if (v1_num > mjMAX_POLYVERT) v1_num = mjMAX_POLYVERT; if (v1_num > mjMAX_POLYVERT) v1_num = mjMAX_POLYVERT;
for (int i = 0; i < v1_num; i++) { for (int i = 0; i < v1_num; i++) {
int index = m->mesh_polymap[v1_adr + i]; int index = m->mesh_polymap[v1_adr + i];