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bullet-featherstone: Parse voxel resolution SDF param when decomposing meshes #655

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Jun 17, 2024
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bullet-featherstone: Parse voxel resolution SDF param when decomposing meshes #655

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18 changes: 11 additions & 7 deletions bullet-featherstone/src/SDFFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1053,21 +1053,25 @@ bool SDFFeatures::AddSdfCollision(
::sdf::MeshOptimization::CONVEX_HULL)
{
std::size_t maxConvexHulls = 16u;
std::size_t voxelResolution = 200000u;
if (meshSdf->ConvexDecomposition())
{
// limit max number of convex hulls to generate
maxConvexHulls = meshSdf->ConvexDecomposition()->MaxConvexHulls();
voxelResolution = meshSdf->ConvexDecomposition()->VoxelResolution();
}
if (meshSdf->Optimization() == ::sdf::MeshOptimization::CONVEX_HULL)
{
/// create 1 convex hull for the whole submesh
maxConvexHulls = 1u;
}
else if (meshSdf->ConvexDecomposition())
{
// limit max number of convex hulls to generate
maxConvexHulls = meshSdf->ConvexDecomposition()->MaxConvexHulls();
}

// Check if MeshManager contains the decomposed mesh already. If not
// add it to the MeshManager so we do not need to decompose it again.
const std::string convexMeshName =
mesh->Name() + "_CONVEX_" + std::to_string(maxConvexHulls);
mesh->Name() + "_" + meshSdf->Submesh() + "_CONVEX_" +
std::to_string(maxConvexHulls) + "_" +
std::to_string(voxelResolution);
auto *decomposedMesh = meshManager.MeshByName(convexMeshName);
if (!decomposedMesh)
{
Expand All @@ -1079,7 +1083,7 @@ bool SDFFeatures::AddSdfCollision(
auto mergedSubmesh = mergedMesh->SubMeshByIndex(0u).lock();
std::vector<common::SubMesh> decomposed =
gz::common::MeshManager::ConvexDecomposition(
*mergedSubmesh.get(), maxConvexHulls);
*mergedSubmesh.get(), maxConvexHulls, voxelResolution);
gzdbg << "Optimizing mesh (" << meshSdf->OptimizationStr() << "): "
<< mesh->Name() << std::endl;
// Create decomposed mesh and add it to MeshManager
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