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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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test/user/testdata/fitmesh_aabb.xml
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+1 -1
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@@ -2,7 +2,7 @@
<compiler fitaabb="true"/>
<asset>
<mesh file="stanford_bunny.obj"/>
<mesh file="../../testdata/stanford_bunny.obj"/>
</asset>
<worldbody>
test/user/testdata/fitmesh_inertiabox.xml
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+1 -1
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@@ -2,7 +2,7 @@
<compiler fitaabb="false" exactmeshinertia="true"/>
<asset>
<mesh file="stanford_bunny.obj"/>
<mesh file="../../testdata/stanford_bunny.obj"/>
</asset>
<worldbody>
test/user/testdata/stanford_bunny.obj
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-7474
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