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Generalize num_face_vertices_ type in mjCMesh object to be the type of tiny_obj_loader. #2390

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Generalize num_face_vertices_ type in mjCMesh object to be the type of tiny_obj_loader. #2390

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3 changes: 1 addition & 2 deletions src/user/user_mesh.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,6 @@
#include "user/user_objects.h"
#include "user/user_resource.h"
#include "user/user_util.h"
#include <tiny_obj_loader.h>

extern "C" {
#include "qhull_ra.h"
Expand Down Expand Up @@ -394,7 +393,7 @@ void mjCMesh::CacheMesh(mjCCache* cache, const mjResource* resource,
+ (sizeof(int) * vertex_index_.size())
+ (sizeof(int) * normal_index_.size())
+ (sizeof(int) * texcoord_index_.size())
+ (sizeof(unsigned char) * num_face_vertices_.size());
+ (sizeof(face_vertices_type) * num_face_vertices_.size());

std::shared_ptr<const void> cached_data(mesh, +[](const void* data) {
const mjCMesh* mesh = static_cast<const mjCMesh*>(data);
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5 changes: 4 additions & 1 deletion src/user/user_objects.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
#include <string_view>
#include <utility>
#include <vector>
#include <tiny_obj_loader.h>

#include <mujoco/mjtnum.h>
#include <mujoco/mjmodel.h>
Expand All @@ -32,6 +33,8 @@
#include "user/user_cache.h"
#include "user/user_util.h"

using face_vertices_type = decltype(tinyobj::mesh_t::num_face_vertices)::value_type;

// forward declarations of all mjC/X classes
class mjCError;
class mjCBase;
Expand Down Expand Up @@ -993,7 +996,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
std::vector<int> vertex_index_;
std::vector<int> normal_index_;
std::vector<int> texcoord_index_;
std::vector<unsigned char> num_face_vertices_;
std::vector<face_vertices_type> num_face_vertices_;

// compute the volume and center-of-mass of the mesh given the face center
void ComputeVolume(double CoM[3], mjtGeomInertia gtype, const double facecen[3]);
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