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Fix bug in cached meshes where convex hull was missing. Previously if a mesh was copied from the cache it would not have its convex hull if the original mesh that was cached didn't previously compute it.

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Fixes #2609

PiperOrigin-RevId: 756223337
Change-Id: I54705456636c270607a17340b249047e0df75d0b
This commit is contained in:
Kyle Bayes
2025-05-08 02:41:06 -07:00
committed by Copybara-Service
parent 6cfea71985
commit f4774a5449
6 changed files with 88 additions and 57 deletions
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src/user/user_mesh.cc
+24 -41
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@@ -1012,30 +1012,28 @@ void mjCMesh::LoadOBJ(mjResource* resource, bool remove_repeated) {
// load mesh from cached asset, return true on success
bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
// save previous mesh properties (in case different from cached mesh)
int maxhullvert = maxhullvert_;
mjtMeshInertia old_inertia = inertia;
double old_scale[3] = {scale[0], scale[1], scale[2]};
auto process_mesh = [&](const void* data) {
const mjCMesh* mesh = static_cast<const mjCMesh*>(data);
// check if maxhullvert is different
maxhullvert_ = mesh->maxhullvert_;
if (maxhullvert != mesh->maxhullvert_) {
return;
if (maxhullvert_ != mesh->maxhullvert_) {
return false;
}
// check if inertia is different
inertia = mesh->inertia;
if (old_inertia != mesh->inertia) {
return;
if (inertia != mesh->inertia) {
return false;
}
// check if scale is different
memcpy(scale, mesh->scale, 3*sizeof(double));
if (old_scale[0] != mesh->scale[0] || old_scale[1] != mesh->scale[1] ||
old_scale[2] != mesh->scale[2]) {
return;
if (scale[0] != mesh->scale[0] ||
scale[1] != mesh->scale[1] ||
scale[2] != mesh->scale[2]) {
return false;
}
// check if need hull
if (needhull_ && !mesh->szgraph_) {
return false;
}
processed_ = mesh->processed_;
@@ -1047,11 +1045,14 @@ bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
facetexcoord_ = mesh->facetexcoord_;
halfedge_ = mesh->halfedge_;
szgraph_ = mesh->szgraph_;
graph_ = nullptr;
if (szgraph_) {
graph_ = (int*)mju_malloc(szgraph_*sizeof(int));
std::copy(mesh->graph_, mesh->graph_ + szgraph_, graph_);
// only copy graph if needed
if (needhull_ || mesh->face_.empty()) {
szgraph_ = mesh->szgraph_;
graph_ = nullptr;
if (szgraph_) {
graph_ = (int*)mju_malloc(szgraph_*sizeof(int));
std::copy(mesh->graph_, mesh->graph_ + szgraph_, graph_);
}
}
polygons_ = mesh->polygons_;
@@ -1072,29 +1073,11 @@ bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
}
tree_ = mesh->tree_;
face_aabb_ = mesh->face_aabb_;
return true;
};
// check that cached asset has all data, make sure no metadata has changed
if (!cache->PopulateData(resource, process_mesh)) {
return false;
}
if (maxhullvert != maxhullvert_) {
maxhullvert_ = maxhullvert;
return false;
}
if (inertia != old_inertia) {
inertia = old_inertia;
return false;
}
if (scale[0] != old_scale[0] || scale[1] != old_scale[1] ||
scale[2] != old_scale[2]) {
scale[0] = old_scale[0];
scale[1] = old_scale[1];
scale[2] = old_scale[2];
return false;
}
return true;
// check that cached asset has all data
return cache->PopulateData(resource, process_mesh);
}
// load STL binary mesh