chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add Signed Distance Field to collision geometries.

Browse Source 
PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
This commit is contained in:
Alessio Quaglino
2023-08-16 09:14:29 -07:00
committed by Copybara-Service
parent 6245edae28
commit fdb041580c
57 changed files with 3229 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_vis_visualize.c
+8 -3
View File
@@ -647,6 +647,10 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
const mjtNum* xpos = d->geom_xpos + 3 * geomid;
const mjtNum* xmat = d->geom_xmat + 9 * geomid;
if (!d->bvh_active[i]) {
continue;
}
rgba[0] = d->bvh_active[i] ? 1 : 0;
rgba[1] = d->bvh_active[i] ? 0 : 1;
@@ -1053,7 +1057,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
for (int k=geomadr; k < geomadr+geomnum; k++) {
int geomtype = m->geom_type[k];
// add inflated geom if it is a regular primitive
if (geomtype != mjGEOM_PLANE && geomtype != mjGEOM_HFIELD && geomtype != mjGEOM_MESH) {
if (geomtype != mjGEOM_PLANE && geomtype != mjGEOM_HFIELD &&
geomtype != mjGEOM_MESH && geomtype != mjGEOM_SDF) {
START
// inflate sizes by 5%
mju_scl3(sz, m->geom_size+3*k, 1.05);
@@ -1183,7 +1188,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
setMaterial(m, thisgeom, geom_matid, rgba, vopt->flags);
// set texcoord
if (m->geom_type[i] == mjGEOM_MESH &&
if ((m->geom_type[i] == mjGEOM_MESH || m->geom_type[i] == mjGEOM_SDF) &&
m->geom_dataid[i] >= 0 &&
m->mesh_texcoordadr[m->geom_dataid[i]] >= 0) {
thisgeom->texcoord = 1;
@@ -1205,7 +1210,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
}
// mesh: 2*i is original, 2*i+1 is convex hull
if (m->geom_type[i] == mjGEOM_MESH) {
if (m->geom_type[i] == mjGEOM_MESH || m->geom_type[i] == mjGEOM_SDF) {
thisgeom->dataid *= 2;
if (m->mesh_graphadr[m->geom_dataid[i]] >= 0 && vopt->flags[mjVIS_CONVEXHULL] &&
(m->geom_contype[i] || m->geom_conaffinity[i])) {