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
@@ -46,6 +46,10 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const
 MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
                          const mjtNum* pnt, const mjtNum* vec);

+// intersect ray with triangle
+MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec,
+                          const mjtNum* b0, const mjtNum* b1);
+
 // intersect ray with mesh
 MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
                        const mjtNum* pnt, const mjtNum* vec);