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Add mju_interpolate3D.

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This is a more general API in preparation of a higher interpolation order

PiperOrigin-RevId: 820174741
Change-Id: I81bd52ab44e0485d72579e21d1c8a48a1b35ec3f
This commit is contained in:
Alessio Quaglino
2025-10-16 04:38:15 -07:00
committed by Copybara-Service
parent 48f10bfcb6
commit ffdfe542cf
5 changed files with 44 additions and 15 deletions
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src/engine/engine_core_smooth.c
+6 -7
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@@ -475,15 +475,14 @@ void mj_flex(const mjModel* m, mjData* d) {
}
}
int order = m->flex_interp[f];
if (nend - nstart != (order + 1) * (order + 1) * (order + 1)) {
mjERROR("flex_interp_order mismatch");
}
for (int i=vstart; i < vend; i++) {
mju_zero3(d->flexvert_xpos+3*i);
mjtNum* coord = m->flex_vert0 + 3*i;
for (int j=0; j < nend-nstart; j++) {
mjtNum coef = (j&1 ? coord[2] : 1-coord[2]) *
(j&2 ? coord[1] : 1-coord[1]) *
(j&4 ? coord[0] : 1-coord[0]);
mju_addToScl3(d->flexvert_xpos+3*i, nodexpos+3*j, coef);
}
mju_interpolate3D(d->flexvert_xpos+3*i, m->flex_vert0 + 3*i, nodexpos, order);
}
}
}