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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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src/engine/engine_ray.h
+2 -6
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@@ -38,7 +38,7 @@ 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 on bodyexclude
// return geomid and distance (x) to nearest surface, or -1 if no intersection
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion
MJAPI mjtNum mj_ray(const mjModel* m, mjData* d, const mjtNum* pnt, const mjtNum* vec,
MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]);
@@ -46,12 +46,8 @@ MJAPI mjtNum mj_ray(const mjModel* m, mjData* d, const mjtNum* pnt, const mjtNum
MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum* pnt, const mjtNum* vec);
// intersect ray with triangle
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec,
const mjtNum* b0, const mjtNum* b1);
// intersect ray with mesh
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, const mjtNum* vec);
// intersect ray with pure geom, no meshes or hfields