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Refactor islands to be memory contiguous.

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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
This commit is contained in:
Yuval Tassa
2025-05-07 05:05:34 -07:00
committed by Copybara-Service
parent 449de73430
commit ecb769fc3a
30 changed files with 1742 additions and 1116 deletions
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src/engine/engine_vis_visualize.c
+6 -6
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@@ -91,9 +91,9 @@ static void makeLabel(const mjModel* m, mjtObj type, int id, char* label) {
// assign pseudo-random rgba to constraint island using Halton sequence
static void islandColor(float rgba[4], int islanddofadr) {
rgba[0] = 0.1f + 0.8f*mju_Halton(islanddofadr + 1, 2);
rgba[1] = 0.1f + 0.8f*mju_Halton(islanddofadr + 1, 3);
rgba[2] = 0.1f + 0.8f*mju_Halton(islanddofadr + 1, 5);
rgba[0] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 2);
rgba[1] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 3);
rgba[2] = 0.1f + 0.9f*mju_Halton(islanddofadr + 1, 5);
rgba[3] = 1;
}
@@ -152,7 +152,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
// override standard colors if visualizing islands
if (vopt->flags[mjVIS_ISLAND] && d->nisland && efc_adr >= 0) {
// set color using island's first dof
islandColor(thisgeom->rgba, d->island_dofind[d->island_dofadr[d->efc_island[efc_adr]]]);
islandColor(thisgeom->rgba, d->island_dofadr[d->efc_island[efc_adr]]);
}
// otherwise regular colors (different for included and excluded contacts)
@@ -1344,7 +1344,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
int island = d->dof_island[m->body_dofadr[weld_id]];
if (island > -1) {
// color using island's first dof
islandColor(rgba_island, d->island_dofind[d->island_dofadr[island]]);
islandColor(rgba_island, d->island_dofadr[island]);
}
}
}
@@ -1835,7 +1835,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
if (d->tendon_efcadr[i] != -1) {
// set color using island's first dof
int island = d->efc_island[d->tendon_efcadr[i]];
islandColor(rgba_island, d->island_dofind[d->island_dofadr[island]]);
islandColor(rgba_island, d->island_dofadr[island]);
}
}
setMaterial(m, thisgeom, tendon_matid, rgba, vopt->flags);