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/experimental/platform/interaction.cc
+3 -3
View File
@@ -342,7 +342,7 @@ static PickResult PickGeom(const mjModel* m, const mjData* d,
const mjvOption* vis_options) {
PickResult result;
result.dist = mj_ray(m, d, ray_pos, ray_dir, vis_options->geomgroup,
vis_options->flags[mjVIS_STATIC], -1, &result.geom);
vis_options->flags[mjVIS_STATIC], -1, &result.geom, nullptr);
mju_addScl3(result.point, ray_pos, ray_dir, result.dist);
result.body = m->geom_bodyid[result.geom];
return result;
@@ -364,8 +364,8 @@ static PickResult PickFlex(const mjModel* m, const mjData* d,
for (int i = 0; i < m->nflex; i++) {
int vertid;
const mjtNum test_dist =
mju_rayFlex(m, d, vis_options->flex_layer, flag_vert, flag_edge,
flag_face, flag_skin, i, ray_pos, ray_dir, &vertid);
mj_rayFlex(m, d, vis_options->flex_layer, flag_vert, flag_edge,
flag_face, flag_skin, i, ray_pos, ray_dir, &vertid, nullptr);
if (test_dist < 0) {
continue;