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
@@ -731,7 +731,7 @@ mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2)


 // Select geom or skin with mouse, return bodyid; -1: none selected.
-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]) {
  // get average camera