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Use mesh BVH for speeding up ray mesh intersection.

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PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
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Alessio Quaglino
2023-05-22 12:04:33 -07:00
committed by Copybara-Service
parent fbbdf70401
commit 03d6d27f64
10 changed files with 7761 additions and 34 deletions
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doc/changelog.rst
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@@ -32,6 +32,7 @@ General
trajectory optimization. See :ref:`mju_cholFactorBand` documentation for details.
- Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
This is significantly faster than calling :ref:`mj_ray` multiple times.
- Ray-mesh collisions are now up to 10x faster, using a bounding volume hierarchy of mesh faces.
- Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
- Added :ref:`documentation<exProvider>` for resource providers.
- Changed the formula for :ref:`mju_sigmoid`, a finite-support sigmoid :math:`s \colon \mathbf R \rightarrow [0, 1]`.