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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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src/engine/engine_collision_sdf.c
+3 -3
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@@ -286,10 +286,10 @@ static mjtNum geomDistance(const mjModel* m, const mjData* d, const mjpPlugin* p
mju_addTo3(a, d->geom_xpos + 3 * i);
mjtNum dir[3] = {-a[0], -a[1], -a[2]};
mjtNum r = mju_norm3(dir);
mjtNum dist = mj_rayMesh(m, d, i, a, dir);
mjtNum dist = mj_rayMesh(m, d, i, a, dir, NULL);
if (dist > r) {
mju_scl3(dir, dir, -1);
return -mj_rayMesh(m, d, i, a, dir);
return -mj_rayMesh(m, d, i, a, dir, NULL);
}
return dist;
}
@@ -414,7 +414,7 @@ static void geomGradient(mjtNum gradient[3], const mjModel* m, const mjData* d,
mju_addTo3(a, d->geom_xpos+3*i);
mjtNum dir[3] = {-a[0], -a[1], -a[2]};
mjtNum r = mju_norm3(dir);
mjtNum dist = mj_rayMesh(m, d, i, a, dir);
mjtNum dist = mj_rayMesh(m, d, i, a, dir, NULL);
gradient[0] = dist > r ? 1 : -1;
gradient[1] = dist > r ? 1 : -1;
gradient[2] = dist > r ? 1 : -1;