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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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include/mujoco/mujoco.h
+24 -18
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@@ -626,39 +626,45 @@ MJAPI const char* mj_versionString(void);
//---------------------------------- Ray casting ---------------------------------------------------
// Intersect multiple rays emanating from a single point.
// Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.
// Nullable: geomgroup
MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
// Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
// Return distance (x) to nearest surface, or -1 if no intersection and output geomid.
// Return distance (x) to nearest surface, or -1 if no intersection.
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.
// Nullable: geomgroup, geomid
// Nullable: geomgroup, geomid, normal
MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]);
int geomid[1], mjtNum normal[3]);
// Intersect multiple rays emanating from a single point, compute normals if given.
// Similar semantics to mj_ray, but vec, normal and dist are arrays.
// Geoms further than cutoff are ignored.
// Nullable: geomgroup, geomid, normal
MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff);
// Intersect ray with hfield; return nearest distance or -1 if no intersection.
// Nullable: normal
MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
// Intersect ray with mesh; return nearest distance or -1 if no intersection.
// Nullable: normal
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
// Intersect ray with pure geom; return nearest distance or -1 if no intersection.
// Nullable: normal
MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
mjtNum normal[3]);
// Intersect ray with flex; return nearest distance or -1 if no intersection,
// and also output nearest vertex id.
// Nullable: vertid
MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert,
mjtByte flg_edge, mjtByte flg_face, mjtByte flg_skin, int flexid,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
// and also output nearest vertex id and surface normal.
// Nullable: vertid, normal
MJAPI mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face,
mjtByte flg_skin, int flexid, const mjtNum pnt[3],
const mjtNum vec[3], int vertid[1], mjtNum normal[3]);
// Intersect ray with skin; return nearest distance or -1 if no intersection,
// and also output nearest vertex id.