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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``