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
@@ -549,7 +549,7 @@ PYBIND11_MODULE(_functions, pymodule) {
  Def<traits::mj_multiRay>(pymodule);
  Def<traits::mj_ray>(
      pymodule,
-      [](const raw::MjModel* m, const raw::MjData* d, const mjtNum(*pnt)[3],
+      [](const raw::MjModel* m, raw::MjData* d, const mjtNum(*pnt)[3],
         const mjtNum(*vec)[3],
         std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
             geomgroup,