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bullet-featherstone: Support convex decomposition for meshes #606
bullet-featherstone: Support convex decomposition for meshes #606
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Check warning on line 1057 in bullet-featherstone/src/SDFFeatures.cc
Codecov / codecov/patch
bullet-featherstone/src/SDFFeatures.cc#L1057
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bullet-featherstone/src/SDFFeatures.cc#L1064
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bullet-featherstone/src/SDFFeatures.cc#L1069
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we may want to remove this, but it has been very helpful for testing
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shortened the debug msg to one line. 1f2aaa7
I can also remove this msg completely if preferred.
Check warning on line 1115 in bullet-featherstone/src/SDFFeatures.cc
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bullet-featherstone/src/SDFFeatures.cc#L1111-L1115
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bullet-featherstone/src/SDFFeatures.cc#L1126-L1129
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this currently uses
btCompoundShape
to join submeshesThere was a problem hiding this comment.
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Updated to merge all submeses before decomposition, which addresses the comment about fusing all submeshes first before doing optimization.
Note that the decomposed submeshes are then still joined together using
btCompoundShape
. Same for the unoptimized case. I can change this to using a single mesh in a follow-up PR.Check warning on line 1139 in bullet-featherstone/src/SDFFeatures.cc
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bullet-featherstone/src/SDFFeatures.cc#L1132-L1139