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Add mju_rayFlexNormal (not exposed in public header)

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PiperOrigin-RevId: 847746174
Change-Id: Ia8f597d296bf6a3eed9bd48b1c39b2ff2b5fcf90
This commit is contained in:
Yuval Tassa
2025-12-22 06:48:06 -08:00
committed by Copybara-Service
parent c7f5766345
commit 223ba99ec2
7 changed files with 111 additions and 57 deletions
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doc/APIreference/functions.rst
+7 -9
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@@ -1170,16 +1170,14 @@ Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.
.. mujoco-include:: mj_ray
Intersect ray ``(pnt+x*vec, x >= 0)`` with visible geoms, except geoms in bodyexclude.
Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
Return geomid and distance (x) to nearest surface, or -1 if no intersection.
geomgroup is an array of length mjNGROUP, where 1 means the group should be included. Pass geomgroup=NULL to skip
group exclusion.
If flg_static is 0, static geoms will be excluded.
bodyexclude=-1 can be used to indicate that all bodies are included.
- Return distance ``x`` to nearest surface, or -1 if no intersection.
- If ``geomid`` is not NULL, write the id of the intersected geom or -1 if not intersection.
- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumeric>`, where 1 means the group should be included. Pass
NULL to skip geom group exclusion.
- If ``flg_static`` is 0, static geoms will be excluded.
*Nullable:* ``geomgroup``, ``geomid``
doc/APIreference/functions_override.rst
+7 -9
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@@ -329,16 +329,14 @@ rays from a single point.
.. _mj_ray:
Intersect ray ``(pnt+x*vec, x >= 0)`` with visible geoms, except geoms in bodyexclude.
Intersect ray ``pnt+x*vec, x >= 0`` with geoms.
Return geomid and distance (x) to nearest surface, or -1 if no intersection.
geomgroup is an array of length mjNGROUP, where 1 means the group should be included. Pass geomgroup=NULL to skip
group exclusion.
If flg_static is 0, static geoms will be excluded.
bodyexclude=-1 can be used to indicate that all bodies are included.
- Return distance ``x`` to nearest surface, or -1 if no intersection.
- If ``geomid`` is not NULL, write the id of the intersected geom or -1 if not intersection.
- Exclude geoms in body with id ``bodyexclude``, use -1 to include all bodies.
- ``geomgroup`` is an array of length :ref:`mjNGROUP<glNumeric>`, where 1 means the group should be included. Pass
NULL to skip geom group exclusion.
- If ``flg_static`` is 0, static geoms will be excluded.
*Nullable:* ``geomgroup``, ``geomid``
doc/changelog.rst
+2
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@@ -41,6 +41,8 @@ Documentation
Bug fixes
^^^^^^^^^
- The ``vertid`` argument of :ref:`mju_rayFlex` and :ref:`mju_raySkin` was marked as nullable but was not; it is now
nullable.
Version 3.4.0 (December 5, 2025)
--------------------------------
src/engine/engine_ray.c
+45 -23
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@@ -890,8 +890,7 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3
// intersect ray with signed distance field, compute normal if given
static mjtNum mj_raySdfNormal(const mjModel* m, const mjData* d, int g,
const mjtNum pnt[3], const mjtNum vec[3],
mjtNum normal[3]) {
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]) {
if (normal) mju_zero3(normal);
mjtNum distance_total = 0;
@@ -1028,12 +1027,16 @@ mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3
}
// intersect ray with flex, return nearest vertex id
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]) {
// intersect ray with flex, return nearest vertex id, compute normal if given
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]) {
int dim = m->flex_dim[flexid];
// clear normal if given
if (normal) mju_zero3(normal);
// compute bounding box
mjtNum box[3][2] = {{0, 0}, {0, 0}, {0, 0}};
mjtNum* vert = d->flexvert_xpos + 3*m->flex_vertadr[flexid];
@@ -1086,6 +1089,7 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
// init solution
mjtNum x = -1;
mjtNum normal_local[3];
// check edges if rendered, or if skin
if (flg_edge || (dim > 1 && flg_skin)) {
@@ -1106,22 +1110,25 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
mju_quat2Mat(mat, quat);
// intersect ray with capsule
mjtNum sol = mju_rayGeom(pos, mat, size, pnt, vec, mjGEOM_CAPSULE);
mjtNum sol = mju_rayGeomNormal(pos, mat, size, pnt, vec, mjGEOM_CAPSULE,
normal ? normal_local : NULL);
// update
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
if (normal) mju_copy3(normal, normal_local);
// construct intersection point
mjtNum intersect[3];
mju_addScl3(intersect, pnt, vec, sol);
// find nearest vertex
if (mju_dist3(v1, intersect) < mju_dist3(v2, intersect)) {
*vertid = m->flex_edge[2*e];
}
else {
*vertid = m->flex_edge[2*e+1];
if (vertid) {
if (mju_dist3(v1, intersect) < mju_dist3(v2, intersect)) {
*vertid = m->flex_edge[2*e];
} else {
*vertid = m->flex_edge[2*e+1];
}
}
}
}
@@ -1137,12 +1144,14 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
size[0] = radius;
// intersect ray with sphere
mjtNum sol = mju_rayGeom(vpos, NULL, size, pnt, vec, mjGEOM_SPHERE);
mjtNum sol = mju_rayGeomNormal(vpos, NULL, size, pnt, vec, mjGEOM_SPHERE,
normal ? normal_local : NULL);
// update
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
*vertid = v;
if (normal) mju_copy3(normal, normal_local);
if (vertid) *vertid = v;
}
}
}
@@ -1173,11 +1182,12 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
mju_copy3(v[j], vptr[i][j]);
// intersect ray with triangle
mjtNum sol = ray_triangle(v, pnt, vec, b0, b1, NULL);
mjtNum sol = ray_triangle(v, pnt, vec, b0, b1, normal ? normal_local : NULL);
// update
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
if (normal) mju_copy3(normal, normal_local);
// construct intersection point
mjtNum intersect[3];
@@ -1189,12 +1199,14 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
mju_dist3(v[1], intersect),
mju_dist3(v[2], intersect)
};
if (dist[0] <= dist[1] && dist[0] <= dist[2]) {
*vertid = edata[vid[i][0]];
} else if (dist[1] <= dist[2]){
*vertid = edata[vid[i][1]];
} else {
*vertid = edata[vid[i][2]];
if (vertid) {
if (dist[0] <= dist[1] && dist[0] <= dist[2]) {
*vertid = edata[vid[i][0]];
} else if (dist[1] <= dist[2]){
*vertid = edata[vid[i][1]];
} else {
*vertid = edata[vid[i][2]];
}
}
}
}
@@ -1205,6 +1217,16 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
}
// intersect ray with flex, return nearest vertex id
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]) {
return mju_rayFlexNormal(m, d, flex_layer, flg_vert, flg_edge, flg_face,
flg_skin, flexid, pnt, vec, vertid, NULL);
}
// intersect ray with skin, return nearest vertex id
mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]) {
@@ -1282,12 +1304,12 @@ mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
// find nearest vertex
mjtNum dist = mju_dist3(intersect, v[0]);
*vertid = face[3*i];
if (vertid) *vertid = face[3*i];
for (int j=1; j < 3; j++) {
mjtNum newdist = mju_dist3(intersect, v[j]);
if (newdist < dist) {
dist = newdist;
*vertid = face[3*i+j];
if (vertid) *vertid = face[3*i+j];
}
}
}
src/engine/engine_ray.h
+7
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@@ -63,6 +63,13 @@ MJAPI mjtNum mj_rayNormal(const mjModel* m, const mjData* d, const mjtNum pnt[3]
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1], 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,
test/engine/engine_ray_test.cc
+31 -16
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@@ -477,19 +477,21 @@ static const char* const kBoxModel = "engine/testdata/ray/box.xml";
static const char* const kMeshModel = "engine/testdata/ray/mesh.xml";
static const char* const kSdfModel = "engine/testdata/ray/sdf.xml";
static const char* const kHfieldModel = "engine/testdata/ray/hfield.xml";
static const char* const kFlexModel = "engine/testdata/ray/flex.xml";
TEST_F(RayTest, GeomNormal) {
for (const char* path :
{kPlaneModel, kSphereModel, kCapsuleModel, kEllipsoidModel,
kCylinderModel, kBoxModel, kMeshModel, kSdfModel, kHfieldModel}) {
TEST_F(RayTest, RayNormal) {
for (const char* path : {kPlaneModel, kSphereModel, kCapsuleModel,
kEllipsoidModel, kCylinderModel, kBoxModel,
kMeshModel, kSdfModel, kHfieldModel, kFlexModel}) {
const std::string xml_path = GetTestDataFilePath(path);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
// exactly one geom and one site in each model
ASSERT_EQ(m->ngeom, 1) << path;
// exactly one geom or one flex, and one site in each model
ASSERT_EQ(m->nsite, 1) << path;
ASSERT_TRUE((m->ngeom == 1) != (m->nflex == 1)) << path;
bool is_flex = m->nflex == 1;
mjData* d = mj_makeData(m);
@@ -514,13 +516,22 @@ TEST_F(RayTest, GeomNormal) {
const mjtNum* pnt = d->site_xpos;
const mjtNum vec[3] = {d->site_xmat[2], d->site_xmat[5], d->site_xmat[8]};
// compute ray length and normal
// compute ray length and normal, compare with sensor
mjtNum r, normal[3];
int geomid;
r = mj_rayNormal(m, d, pnt, vec, NULL, 1, -1, &geomid, normal);
if (!is_flex) {
int geomid;
r = mj_rayNormal(m, d, pnt, vec, nullptr, 1, -1, &geomid, normal);
// compare with sensor
EXPECT_EQ(r, d->sensordata[0]) << path << ", time " << d->time;
// compare with sensor, expect geomid to be 0
EXPECT_EQ(r, d->sensordata[0]) << path << ", time " << d->time;
EXPECT_EQ(geomid, r >= 0 ? 0 : -1);
} else {
r = mju_rayFlexNormal(m, d, /*flex_layer*/ 0, /*flg_vert*/ 1,
/*flg_edge*/ 1, /*flg_face*/ 1,
/*flg_skin*/ 1, /*flex_id*/ 0,
pnt, vec, nullptr, normal);
// no sensor comparison: rangefinders only intersect with geoms
}
// if no intersection, skip
if (r < 0) {
@@ -542,7 +553,12 @@ TEST_F(RayTest, GeomNormal) {
d->site_xmat[6 + i]};
mjtNum dr, dpnt[3];
mju_addScl3(dpnt, pnt, nudge, eps);
dr = mj_rayNormal(m, d, dpnt, vec, NULL, 1, -1, nullptr, nullptr);
if (!is_flex) {
dr = mj_rayNormal(m, d, dpnt, vec, NULL, 1, -1, nullptr, nullptr);
} else {
dr = mju_rayFlexNormal(m, d, 0, 1, 1, 1, 1, 0, dpnt, vec, nullptr,
nullptr);
}
mju_addScl3(ds[i], dpnt, vec, dr);
}
@@ -560,10 +576,9 @@ TEST_F(RayTest, GeomNormal) {
mjtNum expected_neg[3] = {-expected[0], -expected[1], -expected[2]};
// compare analytic with fin-diff approximation
EXPECT_THAT(normal, AnyOf(
Pointwise(DoubleNear(10*eps), expected),
Pointwise(DoubleNear(10*eps), expected_neg)
)) << path << ", time " << d->time;
EXPECT_THAT(normal, AnyOf(Pointwise(DoubleNear(100 * eps), expected),
Pointwise(DoubleNear(100 * eps), expected_neg)))
<< path << ", time " << d->time;
// increment count
ntest++;
test/engine/testdata/ray/flex.xml
Vendored
+12
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@@ -0,0 +1,12 @@
<mujoco>
<include file="ray_swing.xml"/>
<worldbody>
<!-- <body pos="-.5 .002 0" euler="10 50 -40" mocap="true"> -->
<flexcomp name="softbox" type="box" count="4 4 4" spacing=".2 .2 .2" scale="1 2 3"
radius=".01" dim="3" dof="radial">
<edge equality="true"/>
</flexcomp>
<!-- </body> -->
</worldbody>
</mujoco>