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
@@ -484,6 +484,12 @@ MJAPI const char* mj_versionString();

 //---------------------------------- Ray collisions ------------------------------------------------

+// Intersect multiple rays emanating from a single point.
+// Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.
+MJAPI 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);
+
 // Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
 // Return distance (x) to nearest surface, or -1 if no intersection and output geomid.
 // geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.