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
@@ -0,0 +1,8 @@
+<mujoco>
+  <asset>
+    <mesh file="stanford_bunny.obj"/>
+  </asset>
+  <worldbody>
+    <geom type="mesh" mesh="stanford_bunny" pos="1 0 0" euler="0 90 0"/>
+  </worldbody>
+</mujoco>