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
@@ -24,6 +24,7 @@
 #define mjMINIMP        0.0001    // minimum constraint impedance
 #define mjMAXIMP        0.9999    // maximum constraint impedance
 #define mjMAXCONPAIR    50        // maximum number of contacts per geom pair
+#define mjMAXTREEDEPTH  50        // maximum bounding volume hierarchy depth
 #define mjMAXVFS        2000      // maximum number of files in virtual file system
 #define mjMAXVFSNAME    1000      // maximum filename size in virtual file system