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Use mesh BVH for speeding up ray mesh intersection.

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PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
This commit is contained in:
Alessio Quaglino
2023-05-16 11:09:53 -07:00
committed by Copybara-Service
parent 9db444cd46
commit dab49d487c
14 changed files with 51 additions and 267 deletions
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doc/changelog.rst
-2
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@@ -32,9 +32,7 @@ General
trajectory optimization. See :ref:`mju_cholFactorBand` documentation for details.
- Added :ref:`mj_multiRay` function for intersecting multiple rays emanating from a single point.
This is significantly faster than calling :ref:`mj_ray` multiple times.
- Ray-mesh collisions are now up to 10x faster, using a bounding volume hierarchy of mesh faces.
- Increased ``mjMAXUIITEM`` (maximum number of UI elements per section in Simulate) to 100.
- Removed ``const`` qualifier from :ref:`mjData` in :ref:`mj_ray`, :ref:`mj_rayMesh`, and :ref:`mjv_select`.
- Added :ref:`documentation<exProvider>` for resource providers.
- Changed the formula for :ref:`mju_sigmoid`, a finite-support sigmoid :math:`s \colon \mathbf R \rightarrow [0, 1]`.
Previously, the smooth part consisted of two stitched quadratics, once continuously differentiable.
doc/includes/references.h
+3 -3
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@@ -2217,12 +2217,12 @@ const char* mj_versionString();
void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
mjtNum mj_ray(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]);
mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
mjtNum mj_rayMesh(const mjModel* m, mjData* d, int geomid,
mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
@@ -2258,7 +2258,7 @@ void mjv_applyPerturbPose(const mjModel* m, mjData* d, const mjvPerturb* pert,
int flg_paused);
void mjv_applyPerturbForce(const mjModel* m, mjData* d, const mjvPerturb* pert);
mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2);
int mjv_select(const mjModel* m, mjData* d, const mjvOption* vopt,
int mjv_select(const mjModel* m, const mjData* d, const mjvOption* vopt,
mjtNum aspectratio, mjtNum relx, mjtNum rely,
const mjvScene* scn, mjtNum selpnt[3], int geomid[1], int skinid[1]);
void mjv_defaultOption(mjvOption* opt);