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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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introspect/functions.py
+3 -3
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@@ -2847,7 +2847,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
@@ -2940,7 +2940,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(
@@ -3624,7 +3624,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
inner_type=ValueType(name='mjData', is_const=True),
),
),
FunctionParameterDecl(