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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_vis_interact.h
+1 -1
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@@ -73,7 +73,7 @@ MJAPI void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb*
MJAPI mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
// Select geom or skin with mouse, return bodyid; -1: none selected.
MJAPI int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
MJAPI 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]);