Systems and methods for simulation utilizing a segmentable monolithic mesh

A method of simulating a robot in an environment comprising:

• generating a monolithic mesh of the environment;
• identifying one or more objects within the monolithic mesh that a simulation intends to interact with during the simulation;
• segmenting the one or more objects that the simulation intends to interact with from the monolithic mesh;
• performing the simulation of the one or more objects segmented from the monolithic mesh;
• and
• recombining the one or more objects segmented from the monolithic mesh for the simulation with the monolithic mesh.

A vehicle comprising:

• an environment sensor configured to scan an environment and generate one or more signals indicative of one or more objects within the environment;
• a computing device communicatively coupled to the environment sensor, the computing device comprising a processor and a non-transitory computer-readable memory;
• and
• a machine-readable instruction set stored in the non-transitory computer-readable memory that causes the computing device to perform at least the following when executed by the processor:
• simulate an action plan within the environment, wherein a simulation includes:
• generating a monolithic mesh of the environment based on the one or more signals from the environment sensor indicative of the one or more objects within the environment such that the one or more objects in the environment form a static rigid body with the environment,
• identifying one or more objects within the monolithic mesh that the simulation intends to interact with based on the action plan,
• segmenting the one or more objects that the simulation intends to interact with based on the action plan from the monolithic mesh,
• performing the simulation of the one or more objects segmented from the monolithic mesh,
• adjusting the action plan in response to one or more results of the simulation, and
• recombining the one or more objects segmented from the monolithic mesh for the simulation with the monolithic mesh;
• and
• execute the adjusted action plan within the environment in response to the one or more results of the simulation.