Add mesh BVH.

PiperOrigin-RevId: 530559807 Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:30:25 -07:00
parent 49066e1794
commit 4c487e07ed
13 changed files with 242 additions and 50 deletions
@@ -1993,6 +1993,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 ),
                 doc='number of faces                          (nmesh x 1)',
             ),
+             StructFieldDecl(
+                 name='mesh_bvhadr',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='address of bvh root                      (nmesh x 1)',
+             ),
+             StructFieldDecl(
+                 name='mesh_bvhnum',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='number of bvh                            (nmesh x 1)',
+             ),
             StructFieldDecl(
                 name='mesh_normaladr',
                 type=PointerType(
@@ -4758,7 +4772,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 name='flags',
                 type=ArrayType(
                     inner_type=ValueType(name='mjtByte'),
-                     extents=(24,),
+                     extents=(25,),
                 ),
                 doc='visualization flags (indexed by mjtVisFlag)',
             ),