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Compute the interpolation coefficients per vertex rather than per node.

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PiperOrigin-RevId: 792124681
Change-Id: Ib0e18d0b59f09c7e3bdb2ef9940a9b7327b92cd3
This commit is contained in:
Alessio Quaglino
2025-08-07 06:01:58 -07:00
committed by Copybara-Service
parent 781242ae95
commit eb1da7c43d
2 changed files with 8 additions and 3 deletions
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src/user/user_objects.h
+2 -1
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@@ -275,7 +275,8 @@ class mjCOctree : public mjCOctree_ {
void CopyChild(int* child) const;
void CopyAabb(mjtNum* aabb) const;
void CopyCoeff(mjtNum* coeff) const;
const double* Vert(int n, int v) const { return vert_[node_[n].vertid[v]].p.data(); }
const double* Vert(int i) const { return vert_[i].p.data(); }
int VertId(int n, int v) const { return node_[n].vertid[v]; }
void SetFace(const std::vector<double>& vert, const std::vector<int>& face);
int Size() const {
return sizeof(OctNode) * node_.size() + sizeof(Triangle) * face_.size() +