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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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wasm/codegen/generated/bindings.cc
+25 -19
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@@ -8273,16 +8273,17 @@ void mj_mulM2_wrapper(const MjModel& m, const MjData& d, const val& res, const N
mj_mulM2(m.get(), d.get(), res_.data(), vec_.data());
}
void mj_multiRay_wrapper(const MjModel& m, MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtByte flg_static, int bodyexclude, const val& geomid, const val& dist, int nray, mjtNum cutoff) {
void mj_multiRay_wrapper(const MjModel& m, MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtByte flg_static, int bodyexclude, const val& geomid, const val& dist, const val& normal, int nray, mjtNum cutoff) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
UNPACK_VALUE(int, geomid);
UNPACK_NULLABLE_VALUE(int, geomid);
UNPACK_VALUE(mjtNum, dist);
UNPACK_NULLABLE_VALUE(mjtNum, normal);
CHECK_SIZE(dist, nray);
CHECK_SIZE(geomid, nray);
CHECK_SIZE(vec, 3 * nray);
mj_multiRay(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data(), dist_.data(), nray, cutoff);
mj_multiRay(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data(), dist_.data(), normal_.data(), nray, cutoff);
}
int mj_name2id_wrapper(const MjModel& m, int type, const String& name) {
@@ -8347,24 +8348,35 @@ void mj_projectConstraint_wrapper(const MjModel& m, MjData& d) {
mj_projectConstraint(m.get(), d.get());
}
mjtNum mj_ray_wrapper(const MjModel& m, const MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtByte flg_static, int bodyexclude, const val& geomid) {
mjtNum mj_ray_wrapper(const MjModel& m, const MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtByte flg_static, int bodyexclude, const val& geomid, const val& normal) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
UNPACK_NULLABLE_VALUE(int, geomid);
return mj_ray(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data());
UNPACK_NULLABLE_VALUE(mjtNum, normal);
return mj_ray(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data(), normal_.data());
}
mjtNum mj_rayHfield_wrapper(const MjModel& m, const MjData& d, int geomid, const NumberArray& pnt, const NumberArray& vec) {
mjtNum mj_rayFlex_wrapper(const MjModel& m, const MjData& d, int flex_layer, mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face, mjtByte flg_skin, int flexid, const NumberArray& pnt, const NumberArray& vec, const val& vertid, const val& normal) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
return mj_rayHfield(m.get(), d.get(), geomid, pnt_.data(), vec_.data());
UNPACK_NULLABLE_VALUE(int, vertid);
UNPACK_NULLABLE_VALUE(mjtNum, normal);
return mj_rayFlex(m.get(), d.get(), flex_layer, flg_vert, flg_edge, flg_face, flg_skin, flexid, pnt_.data(), vec_.data(), vertid_.data(), normal_.data());
}
mjtNum mj_rayMesh_wrapper(const MjModel& m, const MjData& d, int geomid, const NumberArray& pnt, const NumberArray& vec) {
mjtNum mj_rayHfield_wrapper(const MjModel& m, const MjData& d, int geomid, const NumberArray& pnt, const NumberArray& vec, const val& normal) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
return mj_rayMesh(m.get(), d.get(), geomid, pnt_.data(), vec_.data());
UNPACK_NULLABLE_VALUE(mjtNum, normal);
return mj_rayHfield(m.get(), d.get(), geomid, pnt_.data(), vec_.data(), normal_.data());
}
mjtNum mj_rayMesh_wrapper(const MjModel& m, const MjData& d, int geomid, const NumberArray& pnt, const NumberArray& vec, const val& normal) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_NULLABLE_VALUE(mjtNum, normal);
return mj_rayMesh(m.get(), d.get(), geomid, pnt_.data(), vec_.data(), normal_.data());
}
void mj_referenceConstraint_wrapper(const MjModel& m, MjData& d) {
@@ -9870,20 +9882,14 @@ void mju_quatZ2Vec_wrapper(const val& quat, const NumberArray& vec) {
mju_quatZ2Vec(quat_.data(), vec_.data());
}
mjtNum mju_rayFlex_wrapper(const MjModel& m, const MjData& d, int flex_layer, mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face, mjtByte flg_skin, int flexid, const NumberArray& pnt, const NumberArray& vec, const val& vertid) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_NULLABLE_VALUE(int, vertid);
return mju_rayFlex(m.get(), d.get(), flex_layer, flg_vert, flg_edge, flg_face, flg_skin, flexid, pnt_.data(), vec_.data(), vertid_.data());
}
mjtNum mju_rayGeom_wrapper(const NumberArray& pos, const NumberArray& mat, const NumberArray& size, const NumberArray& pnt, const NumberArray& vec, int geomtype) {
mjtNum mju_rayGeom_wrapper(const NumberArray& pos, const NumberArray& mat, const NumberArray& size, const NumberArray& pnt, const NumberArray& vec, int geomtype, const val& normal) {
UNPACK_ARRAY(mjtNum, pos);
UNPACK_ARRAY(mjtNum, mat);
UNPACK_ARRAY(mjtNum, size);
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
return mju_rayGeom(pos_.data(), mat_.data(), size_.data(), pnt_.data(), vec_.data(), geomtype);
UNPACK_NULLABLE_VALUE(mjtNum, normal);
return mju_rayGeom(pos_.data(), mat_.data(), size_.data(), pnt_.data(), vec_.data(), geomtype, normal_.data());
}
mjtNum mju_raySkin_wrapper(int nface, int nvert, const NumberArray& face, const NumberArray& vert, const NumberArray& pnt, const NumberArray& vec, const val& vertid) {
@@ -12453,6 +12459,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mj_printScene", &mj_printScene_wrapper);
function("mj_projectConstraint", &mj_projectConstraint_wrapper);
function("mj_ray", &mj_ray_wrapper);
function("mj_rayFlex", &mj_rayFlex_wrapper);
function("mj_rayHfield", &mj_rayHfield_wrapper);
function("mj_rayMesh", &mj_rayMesh_wrapper);
function("mj_referenceConstraint", &mj_referenceConstraint_wrapper);
@@ -12684,7 +12691,6 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
function("mju_quat2Vel", &mju_quat2Vel_wrapper);
function("mju_quatIntegrate", &mju_quatIntegrate_wrapper);
function("mju_quatZ2Vec", &mju_quatZ2Vec_wrapper);
function("mju_rayFlex", &mju_rayFlex_wrapper);
function("mju_rayGeom", &mju_rayGeom_wrapper);
function("mju_raySkin", &mju_raySkin_wrapper);
function("mju_rotVecQuat", &mju_rotVecQuat_wrapper);