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Add mesh BVH.

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PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
This commit is contained in:
Alessio Quaglino
2023-05-09 03:30:25 -07:00
committed by Copybara-Service
parent 49066e1794
commit 4c487e07ed
13 changed files with 242 additions and 50 deletions
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unity/Runtime/Bindings/MjBindings.cs
+5 -2
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@@ -487,7 +487,8 @@ public enum mjtVisFlag : int{
mjVIS_STATIC = 21,
mjVIS_SKIN = 22,
mjVIS_MIDPHASE = 23,
mjNVISFLAG = 24,
mjVIS_MESHBVH = 24,
mjNVISFLAG = 25,
}
public enum mjtRndFlag : int{
mjRND_SHADOW = 0,
@@ -2067,6 +2068,8 @@ public unsafe struct mjModel_ {
public int* mesh_vertnum;
public int* mesh_faceadr;
public int* mesh_facenum;
public int* mesh_bvhadr;
public int* mesh_bvhnum;
public int* mesh_normaladr;
public int* mesh_normalnum;
public int* mesh_texcoordadr;
@@ -2574,7 +2577,7 @@ public unsafe struct mjvOption_ {
public fixed byte tendongroup[6];
public fixed byte actuatorgroup[6];
public fixed byte skingroup[6];
public fixed byte flags[24];
public fixed byte flags[25];
public int bvh_depth;
}