Add mj_multiRay function to perform multiple ray intersection with the same source.

PiperOrigin-RevId: 528684535 Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
2023-05-01 23:02:12 -07:00
parent 4d2bf636ea
commit 2ad82d5998
11 changed files with 440 additions and 21 deletions
@@ -15,7 +15,8 @@ Plugins
 - Added touch-grid sensor plugin. See `documentation <https://github.com/deepmind/mujoco/blob/main/plugin/sensor/README.md>`_
  for details, and associated `touch_grid.xml <https://github.com/deepmind/mujoco/blob/main/model/plugin/touch_grid.xml>`_
  example model. The plugin includes `in-scene visualisation <https://youtu.be/0LOJ3WMnqeA>`_.
-
+- Add ``mj_multiRay`` function for intersecting multiple rays emanating from a single point. This is significantly
+  faster than calling ``mj_ray`` multiple times.

 Version 2.3.5 (April 25, 2023)
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