Use mesh BVH for speeding up ray mesh intersection.

PiperOrigin-RevId: 534141245 Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
2023-05-22 12:04:33 -07:00
parent fbbdf70401
commit 03d6d27f64
10 changed files with 7761 additions and 34 deletions
@@ -409,6 +409,10 @@ table below. Their names are in the format ``mjKEY_XXX``. They correspond to GLF
       respect this limit, and user-defined functions should also respect it. Such functions are called with a return
       buffer of size ``mjMAXCONPAIR``; attempting to write more contacts in the buffer can cause unpredictable
       behavior.
+   * - ``mjMAXTREEDEPTH``
+     - 50
+     - The maximum depth of each body and mesh bounding volume hierarchy. If this large limit is exceeded, a warning
+       is raised and ray casting may not be possible. For a balanced hierarchy, this implies 1E15 bounding volumes.
   * - ``mjMAXVFS``
     - 200
     - The maximal number of characters in the name of each file in the virtual file system.