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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_sensor.c
+7 -7
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@@ -505,8 +505,8 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
int geomid;
mjtNum normal[3];
mjtNum* p_normal = (dataspec & (1 << mjRAYDATA_NORMAL)) ? normal : NULL;
mjtNum dist = mj_rayNormal(m, d, origin, rvec, NULL, 1,
m->site_bodyid[objid], &geomid, p_normal);
mjtNum dist = mj_ray(m, d, origin, rvec, NULL, 1,
m->site_bodyid[objid], &geomid, p_normal);
// for site sensor: pass NULL for cam_z so depth = dist
fill_raydata(ptr, dataspec, dist, origin, rvec, normal, NULL, NULL);
@@ -550,8 +550,8 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
}
// cast all rays with normals if needed
mj_multiRayNormal(m, d, cam_xpos, vec, NULL, 1, bodyexclude,
geomid, dist, normals, npixel, mjMAXVAL);
mj_multiRay(m, d, cam_xpos, vec, NULL, 1, bodyexclude,
geomid, dist, normals, npixel, mjMAXVAL);
// fill in output for each pixel
ptr = d->sensordata + adr;
@@ -576,8 +576,8 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
int geomid;
mjtNum normal[3];
mjtNum dist = mj_rayNormal(m, d, origin, direction, NULL, 1,
bodyexclude, &geomid, normal);
mjtNum dist = mj_ray(m, d, origin, direction, NULL, 1,
bodyexclude, &geomid, normal);
ptr = fill_raydata(ptr, dataspec, dist, origin, direction,
normal, cam_xpos, cam_z);
@@ -1123,7 +1123,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
// add if ray-zone intersection (always true when con->pos inside zone)
if (mju_rayGeom(d->site_xpos+3*objid, d->site_xmat+9*objid,
m->site_size+3*objid, con->pos, conray,
m->site_type[objid]) >= 0) {
m->site_type[objid], NULL) >= 0) {
d->sensordata[adr] += conforce[0];
}
}