Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.

PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48

Author: kbayes

doc/XMLreference.rst

@@ -3397,10 +3397,11 @@ saving the XML:
    compatible with :at:`dim=1`.
 
    **mesh** loads the flexcomp points and elements (i.e. triangles) from a mesh file, in the same file formats as mesh
-   assets. A mesh asset is not actually added to the model. Instead the vertex and face data from the mesh file are used
-   to populate the point and element data of the flexcomp. :at:`dim` is automatically set to 2. Recall that a mesh asset
-   in MuJoCo can be used as a rigid geom attached to a single body. In contrast, the flex generated here corresponds to
-   a soft mesh with the same initial shape, where each vertex is a separate moving body (unless pinned).
+   assets, excluding the legacy .msh format. A mesh asset is not actually added to the model. Instead the vertex and
+   face data from the mesh file are used to populate the point and element data of the flexcomp. :at:`dim` is
+   automatically set to 2. Recall that a mesh asset in MuJoCo can be used as a rigid geom attached to a single body. In
+   contrast, the flex generated here corresponds to a soft mesh with the same initial shape, where each vertex is a
+   separate moving body (unless pinned).
 
    .. _gmsh-file-docs:
 
@@ -3471,9 +3472,9 @@ saving the XML:
 
 :at:`file`: :at-val:`string, optional`
    The name of the file from which a **surface** (triangular) or **volumetric** (tetrahedral) mesh is loaded. For
-   surface meshes, the file extension is used to determine the file format. Supported formats are the same as in
-   :ref:`mesh assets<asset-mesh>` and also including GMSH. Volumetric meshes are supported only in GMSH format.
-   See :ref:`here<gmsh-file-docs>` for more information on GMSH files.
+   surface meshes, the file extension is used to determine the file format. Supported formats are GMSH and the formats
+   specified in :ref:`mesh assets<asset-mesh>`, excluding the legacy .msh format. Volumetric meshes are supported only
+   in GMSH format. See :ref:`here<gmsh-file-docs>` for more information on GMSH files.
 
 .. _body-flexcomp-rigid:
 

src/user/user_flexcomp.cc

@@ -989,14 +989,6 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
     return comperr(error, "File is required", error_sz);
   }
 
-  // get extension and check; must be STL, OBJ or MSH
-  std::string ext = mjuu_getext(file);
-  if (strcasecmp(ext.c_str(), ".stl") &&
-      strcasecmp(ext.c_str(), ".obj") &&
-      strcasecmp(ext.c_str(), ".msh")) {
-    return comperr(error, "Mesh file extension must be stl, obj or msh", error_sz);
-  }
-
   // check dim
   if (def.spec.flex->dim < 2) {
     return comperr(error, "Flex dim must be at least 2 for mesh", error_sz);
@@ -1006,53 +998,36 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
   std::string filename = mjuu_combinePaths(mjs_getString(model->spec.meshdir), file);
   mjResource* resource = nullptr;
 
+
+  if (mjCMesh::IsMSH(filename)) {
+    return comperr(error, "legacy MSH files are not supported in flexcomp", error_sz);
+  }
+
   try {
     resource = mjCBase::LoadResource(mjs_getString(model->spec.modelfiledir),
                                      filename, 0);
   } catch (mjCError err) {
     return comperr(error, err.message, error_sz);
   }
 
+
   // load mesh
   mjCMesh mesh;
-  bool isobj = false;
   try {
-    if (!strcasecmp(ext.c_str(), ".stl")) {
-      mesh.LoadSTL(resource);
-    } else if (!strcasecmp(ext.c_str(), ".obj")) {
-      isobj = true;
-      mesh.LoadOBJ(resource);
-    } else {
-      mesh.LoadMSH(resource);
-    }
+    mesh.LoadFromResource(resource, true);
     mju_closeResource(resource);
   } catch (mjCError err) {
     mju_closeResource(resource);
     return comperr(error, err.message, error_sz);
   }
 
-  // LoadOBJ uses userXXX, extra processing needed
-  if (isobj) {
-    // check sizes
-    if (mesh.Vert().empty() || mesh.Face().empty()) {
-      return comperr(error, "Vertex and face data required", error_sz);
-    }
-    if (mesh.Vert().size()%3) {
-      return comperr(error, "Vertex data must be multiple of 3", error_sz);
-    }
-    if (mesh.Face().size()%3) {
-      return comperr(error, "Face data must be multiple of 3", error_sz);
-    }
-
-    // remove repeated vertices (not called in LoadOBJ)
-    mesh.RemoveRepeated();
+  // check sizes
+  if (mesh.Vert().empty() || mesh.Face().empty()) {
+    return comperr(error, "Vertex and face data required", error_sz);
   }
 
-  // copy vertices, convert from float to double
-  point = vector<double> (mesh.nvert()*3);
-  for (int i=0; i < mesh.nvert()*3; i++) {
-    point[i] = (double) mesh.Vert(i);
-  }
+  // copy vertices
+  point = mesh.Vert();
 
   if (mesh.HasTexcoord()) {
     texcoord = mesh.Texcoord();