RobotLocomotion/drake — pull request #481 by gizatt (2014-10-10 19:58:54+00:00)
Title: Subtracts off margin for raycasts onto box/mesh

Additional margin placed around meshes / boxes when doing raycasting with bullet (for e.g. dense sensors) is taken away before computing raycast distance . This isn't perfect (error will grow with angle of incidence), but it's enough to enable Atlas to walk on the resulting heightmaps...