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
@@ -2207,6 +2207,9 @@ void mj_loadPluginLibrary(const char* path);
 void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
 int mj_version(void);
 const char* mj_versionString();
+void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
+                 const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
+                 int* geomid, mjtNum* dist, int nray);
 mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
              const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
              int geomid[1]);