code: def mesh_to_BVH(mesh):
      
      bvh = fcl.BVHModel()
      bvh.beginModel(num_tris_=len(mesh.faces),
                     num_vertices_=len(mesh.vertices))
      bvh.addSubModel(verts=mesh.vertices,
                      triangles=mesh.faces)
      bvh.endModel()
      return bvh
docs: Create a BVHModel object from a Trimesh object
  
      Parameters
      -----------
      mesh : Trimesh
        Input geometry
  
      Returns
      ------------
      bvh : fcl.BVHModel
        BVH of input geometry