Fix heightfield scene BVH bounds missing upper z-range#1173
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Fix heightfield scene BVH bounds missing upper z-range#1173kevinzakka wants to merge 1 commit intomainfrom
kevinzakka wants to merge 1 commit intomainfrom
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Heightfield mesh vertices have z-values in [0, max_z] (non-negative), but the scene BVH assumed the mesh was centered at the geom origin. This caused the AABB to miss the upper portion of the heightfield, so rays aimed there would skip intersection entirely. Fix by computing the mesh center offset in local coordinates and applying it when building the AABB: `pos + rot @ center`.
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The scene-level BVH bounds for heightfield geoms were computed with
_compute_box_bounds(pos, rot, size), which creates an AABB symmetric around the geom position. Heightfield mesh z-values range from 0 to max_z (not centered at origin), so the upper half of the surface fell outside the bounding volume and rays missed it.Fix by tracking the mesh center offset in local coordinates and offsetting the AABB center accordingly:
_compute_box_bounds(pos + rot @ center, rot, size).