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
@@ -731,7 +731,7 @@ mjvGLCamera mjv_averageCamera(const mjvGLCamera* cam1, const mjvGLCamera* cam2)


 // Select geom or skin with mouse, return bodyid; -1: none selected.
-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]) {
  // get average camera