I am not comfortable using trimesh for intersecting projectiles with terrain because it is not watertight. Here's a raycast of the Stanford bunny. If you look really closely, you can see that it is littered with one-pixel holes.
Woop's watertight triangle intersection is slightly more expensive than the cheapest alternative but I don't think it would make a practical difference since the bottleneck is traversing the BVH, not FLOPs. Would you accept a PR that changes the triangle narrow phase?
I am not comfortable using trimesh for intersecting projectiles with terrain because it is not watertight. Here's a raycast of the Stanford bunny. If you look really closely, you can see that it is littered with one-pixel holes.
Woop's watertight triangle intersection is slightly more expensive than the cheapest alternative but I don't think it would make a practical difference since the bottleneck is traversing the BVH, not FLOPs. Would you accept a PR that changes the triangle narrow phase?