chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51

Browse Source 
PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
This commit is contained in:
Yuval Tassa
2024-05-10 04:51:46 -07:00
committed by Copybara-Service
parent 31de1dad9d
commit 02d015458c
29 changed files with 1002 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_ray.c
+4 -5
View File
@@ -1137,14 +1137,13 @@ static int point_in_box(const mjtNum aabb[6], const mjtNum xpos[3],
//---------------------------- main entry point ---------------------------------------------------
//---------------------------- main entry point ----------------------------------------------------
// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude
// return geomid and distance (x) to nearest surface, or -1 if no intersection
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]) {
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude, int geomid[1]) {
mjtNum dist, newdist;
// check vector length
@@ -1154,7 +1153,7 @@ mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum
// clear result
dist = -1;
*geomid = -1;
if (geomid) *geomid = -1;
// loop over geoms not eliminated by mask and bodyexclude
for (int i=0; i < m->ngeom; i++) {
@@ -1177,7 +1176,7 @@ mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum
// update if closer intersection found
if (newdist >= 0 && (newdist < dist || dist < 0)) {
dist = newdist;
*geomid = i;
if (geomid) *geomid = i;
}
}
}