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

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_ray.h
+15 -31
View File
@@ -29,17 +29,11 @@ MJAPI void mju_multiRayPrepare(const mjModel* m, const mjData* d,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba,
int* geom_eliminate);
// intersect multiple rays emanating from a single source
// similar semantics to mj_ray, but vec is (nray x 3) and dist is (nray).
// intersect multiple rays emanating from a single source, compute normals if given
// similar semantics to mj_ray, but vec, normal and dist are arrays
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 multiple rays, compute normals if given
// similar semantics to mj_rayNormal, but vec, normal and dist are arrays.
MJAPI void mj_multiRayNormal(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);
int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff);
// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude
@@ -47,40 +41,30 @@ MJAPI void mj_multiRayNormal(const mjModel* m, mjData* d, const mjtNum pnt[3], c
// 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[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]);
int geomid[1], mjtNum normal[3]);
// intersect ray with hfield
// intersect ray with hfield, compute normal if given
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 triangle
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
const mjtNum b0[3], const mjtNum b1[3], mjtNum normal[3]);
// intersect ray with mesh
// intersect ray with mesh, compute normal if given
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 primitive geom, no meshes or hfields
// intersect ray with primitive geom, no meshes or hfields, compute normal if given
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);
// intersect ray with geom, compute normal if given
MJAPI mjtNum mj_rayNormal(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], mjtNum normal[3]);
const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
mjtNum normal[3]);
// intersect ray with flex, return nearest vertex id, compute normal if given
MJAPI mjtNum mju_rayFlexNormal(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 flex, return nearest vertex id
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]);
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 vertex id
MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,