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Use mesh BVH for speeding up ray mesh intersection.

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PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
This commit is contained in:
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/includes/references.h
+3 -3
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@@ -2217,12 +2217,12 @@ const char* mj_versionString();
void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
mjtNum mj_ray(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]);
mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
mjtNum mj_rayMesh(const mjModel* m, mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
@@ -2258,7 +2258,7 @@ void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
int flg_paused);
void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
int mjv_select(const mjModel* m, mjData* d, const mjvOption* vopt,
mjtNum aspectratio, mjtNum relx, mjtNum rely,
const mjvScene* scn, mjtNum selpnt[3], int geomid[1], int skinid[1]);
void mjv_defaultOption(mjvOption* opt);