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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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unity/Runtime/Bindings/MjBindings.cs
+6 -6
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@@ -6807,22 +6807,22 @@ public static unsafe extern int mj_version();
public static unsafe extern string mj_versionString();
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_multiRay(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid, double* dist, int nray, double cutoff);
public static unsafe extern double mj_ray(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid, double* normal);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mj_ray(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid);
public static unsafe extern void mj_multiRay(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid, double* dist, double* normal, int nray, double cutoff);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mj_rayHfield(mjModel_* m, mjData_* d, int geomid, double* pnt, double* vec);
public static unsafe extern double mj_rayHfield(mjModel_* m, mjData_* d, int geomid, double* pnt, double* vec, double* normal);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mj_rayMesh(mjModel_* m, mjData_* d, int geomid, double* pnt, double* vec);
public static unsafe extern double mj_rayMesh(mjModel_* m, mjData_* d, int geomid, double* pnt, double* vec, double* normal);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mju_rayGeom(double* pos, double* mat, double* size, double* pnt, double* vec, int geomtype);
public static unsafe extern double mju_rayGeom(double* pos, double* mat, double* size, double* pnt, double* vec, int geomtype, double* normal);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mju_rayFlex(mjModel_* m, mjData_* d, int flex_layer, byte flg_vert, byte flg_edge, byte flg_face, byte flg_skin, int flexid, double* pnt, double* vec, int* vertid);
public static unsafe extern double mj_rayFlex(mjModel_* m, mjData_* d, int flex_layer, byte flg_vert, byte flg_edge, byte flg_face, byte flg_skin, int flexid, double* pnt, double* vec, int* vertid, double* normal);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mju_raySkin(int nface, int nvert, int* face, float* vert, double* pnt, double* vec, int* vertid);