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
@@ -0,0 +1,8 @@
+<mujoco>
+  <asset>
+    <mesh file="stanford_bunny.obj"/>
+  </asset>
+  <worldbody>
+    <geom type="mesh" mesh="stanford_bunny" pos="1 0 0" euler="0 90 0"/>
+  </worldbody>
+</mujoco>