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[PERF] Share static-geometry raycast BVH across envs (N trees, not B)#2914

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Kashu7100 wants to merge 3 commits into
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Kashu7100:kashu/raycast-shared-static-bvh
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[PERF] Share static-geometry raycast BVH across envs (N trees, not B)#2914
Kashu7100 wants to merge 3 commits into
Genesis-Embodied-AI:mainfrom
Kashu7100:kashu/raycast-shared-static-bvh