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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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src/engine/engine_ray.h
+6 -2
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@@ -38,7 +38,7 @@ MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const m
// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude
// return geomid and distance (x) to nearest surface, or -1 if no intersection
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion
MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum* vec,
MJAPI mjtNum mj_ray(const mjModel* m, mjData* d, const mjtNum* pnt, const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]);
@@ -46,8 +46,12 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const
MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum* pnt, const mjtNum* vec);
// intersect ray with triangle
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec,
const mjtNum* b0, const mjtNum* b1);
// intersect ray with mesh
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
MJAPI mjtNum mj_rayMesh(const mjModel* m, mjData* d, int geomid,
const mjtNum* pnt, const mjtNum* vec);
// intersect ray with pure geom, no meshes or hfields