Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

src/engine/engine_ray.h

@@ -0,0 +1,53 @@
+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_ENGINE_ENGINE_RAY_H_
+#define MUJOCO_SRC_ENGINE_ENGINE_RAY_H_
+
+#include <mujoco/mjdata.h>
+#include <mujoco/mjexport.h>
+#include <mujoco/mjmodel.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// 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
+MJAPI 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]);
+
+// interect ray with hfield
+MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
+                          const mjtNum* pnt, const mjtNum* vec);
+
+// interect ray with mesh
+MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
+                        const mjtNum* pnt, const mjtNum* vec);
+
+// interect ray with pure geom, no meshes or hfields
+MJAPI mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
+                         const mjtNum* pnt, const mjtNum* vec, int geomtype);
+
+// interect ray with skin, return nearest vertex id
+MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
+                         const mjtNum* pnt, const mjtNum* vec, int vertid[1]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // MUJOCO_SRC_ENGINE_ENGINE_RAY_H_