Use mesh BVH for speeding up ray mesh intersection.

PiperOrigin-RevId: 532464595 Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
2023-05-16 08:16:56 -07:00
parent 4ea8218466
commit 9d1a21f99d
14 changed files with 267 additions and 51 deletions
@@ -2847,7 +2847,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
             FunctionParameterDecl(
                 name='d',
                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
+                     inner_type=ValueType(name='mjData'),
                 ),
             ),
             FunctionParameterDecl(
@@ -2940,7 +2940,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
             FunctionParameterDecl(
                 name='d',
                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
+                     inner_type=ValueType(name='mjData'),
                 ),
             ),
             FunctionParameterDecl(
@@ -3624,7 +3624,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
             FunctionParameterDecl(
                 name='d',
                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
+                     inner_type=ValueType(name='mjData'),
                 ),
             ),
             FunctionParameterDecl(