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Breaking change: Add surface normal output to MuJoCo raycast functions.

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PiperOrigin-RevId: 855781592
Change-Id: Id96b1ca7eaf722e260cc69d7706c28dc51f52d92
This commit is contained in:
Yuval Tassa
2026-01-13 10:21:31 -08:00
committed by Copybara-Service
parent 37762e3f70
commit 218226fc95
17 changed files with 457 additions and 326 deletions
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doc/APIreference/functions_override.rst
+3 -1
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@@ -332,12 +332,14 @@ Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
- Return distance ``x`` to nearest surface, or -1 if no intersection.
- If ``geomid`` is not NULL, write the id of the intersected geom or -1 if not intersection.
- If ``normal`` is not NULL, write the surface normal at the intersection point. The normal always points **out of the
geometry**, regardless of the ray's direction (i.e., including rays hitting the surface from the inside).
- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumeric>`, where 1 means the group should be included. Pass
NULL to skip geom group exclusion.
- If ``flg_static`` is 0, static geoms will be excluded.
*Nullable:* ``geomgroup``, ``geomid``
*Nullable:* ``geomgroup``, ``geomid``, ``normal``
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