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Use mesh BVH for speeding up ray mesh intersection.

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PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
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Alessio Quaglino
2023-05-16 08:16:56 -07:00
committed by Copybara-Service
parent 4ea8218466
commit 9d1a21f99d
14 changed files with 267 additions and 51 deletions
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doc/changelog.rst
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@@ -32,7 +32,9 @@ General
trajectory optimization. See :ref:`mju_cholFactorBand` documentation for details.
- Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
This is significantly faster than calling :ref:`mj_ray` multiple times.
- Ray-mesh collisions are now up to 10x faster, using a bounding volume hierarchy of mesh faces.
- Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
- Removed ``const`` qualifier from :ref:`mjData` in :ref:`mj_ray`, :ref:`mj_rayMesh`, and :ref:`mjv_select`.
- Added :ref:`documentation<exProvider>` for resource providers.
- Changed the formula for :ref:`mju_sigmoid`, a finite-support sigmoid :math:`s \colon \mathbf R \rightarrow [0, 1]`.
Previously, the smooth part consisted of two stitched quadratics, once continuously differentiable.