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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_vis_interact.c
+14 -5
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@@ -861,11 +861,20 @@ int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
if (newdist >= 0 && (newdist < flexdist || flexdist < 0)) {
flexdist = newdist;
if (m->flex_interp[i]) {
mjtNum* vert0 = m->flex_vert0 + 3*(m->flex_vertadr[i] + vertid);
int l = vert0[0] > 0.5 ? 1 : 0;
int j = vert0[1] > 0.5 ? 1 : 0;
int k = vert0[2] > 0.5 ? 1 : 0;
int nodeid = 4*l+2*j+k;
mjtNum* coord = m->flex_vert0 + 3*(m->flex_vertadr[i] + vertid);
int nodeid = -1;
int nstart = m->flex_nodeadr[i];
int nend = nstart + m->flex_nodenum[i];
mjtNum w = 0;
for (int j = nstart; j < nend; j++) {
if (mju_evalBasis(coord, j-nstart, m->flex_interp[i]) > w) {
w = mju_evalBasis(coord, j-nstart, m->flex_interp[i]);
nodeid = j;
}
}
if (nodeid < 0) {
mjERROR("flex %d: node closest to vertex %d not found", i, vertid);
}
flexbodyid = m->flex_nodebodyid[m->flex_nodeadr[i] + nodeid];
if (m->flex_centered[i]) {
mju_copy3(flexpnt, d->xpos + 3*flexbodyid);