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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_vis_interact.h
+1 -1
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@@ -73,7 +73,7 @@ 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]);