Use mesh BVH for speeding up ray mesh intersection.

PiperOrigin-RevId: 532516008 Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
2023-05-16 11:09:53 -07:00
parent 9db444cd46
commit dab49d487c
14 changed files with 51 additions and 267 deletions
@@ -549,7 +549,7 @@ PYBIND11_MODULE(_functions, pymodule) {
  Def<traits::mj_multiRay>(pymodule);
  Def<traits::mj_ray>(
      pymodule,
-      [](const raw::MjModel* m, raw::MjData* d, const mjtNum(*pnt)[3],
+      [](const raw::MjModel* m, const raw::MjData* d, const mjtNum(*pnt)[3],
         const mjtNum(*vec)[3],
         std::optional<Eigen::Ref<const Eigen::Vector<mjtByte, mjNGROUP>>>
             geomgroup,