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
@@ -39,6 +39,7 @@ public const double mjMINMU = 1e-05;
 public const double mjMINIMP = 0.0001;
 public const double mjMAXIMP = 0.9999;
 public const int mjMAXCONPAIR = 50;
+public const int mjMAXTREEDEPTH = 50;
 public const int mjMAXVFS = 2000;
 public const int mjMAXVFSNAME = 1000;
 public const int mjNEQDATA = 11;