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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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include/mujoco/mujoco.h
+3 -3
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@@ -493,7 +493,7 @@ MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const m
// Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
// Return distance (x) to nearest surface, or -1 if no intersection and output geomid.
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.
MJAPI mjtNum mj_ray(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
MJAPI 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]);
@@ -502,7 +502,7 @@ MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
// Intersect ray with mesh, return nearest distance or -1 if no intersection.
MJAPI mjtNum mj_rayMesh(const mjModel* m, mjData* d, int geomid,
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
// Intersect ray with pure geom, return nearest distance or -1 if no intersection.
@@ -585,7 +585,7 @@ 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, mjData* d, const mjvOption* vopt,
MJAPI 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]);