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

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PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
This commit is contained in:
Alessio Quaglino
2023-05-01 23:02:12 -07:00
committed by Copybara-Service
parent 4d2bf636ea
commit 2ad82d5998
11 changed files with 440 additions and 21 deletions
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introspect/functions.py
+63
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@@ -2766,6 +2766,69 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
parameters=(),
doc='Return the current version of MuJoCo as a null-terminated string.', # pylint: disable=line-too-long
)),
('mj_multiRay',
FunctionDecl(
name='mj_multiRay',
return_type=ValueType(name='void'),
parameters=(
FunctionParameterDecl(
name='m',
type=PointerType(
inner_type=ValueType(name='mjModel', is_const=True),
),
),
FunctionParameterDecl(
name='d',
type=PointerType(
inner_type=ValueType(name='mjData'),
),
),
FunctionParameterDecl(
name='pnt',
type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
),
),
FunctionParameterDecl(
name='vec',
type=PointerType(
inner_type=ValueType(name='mjtNum', is_const=True),
),
),
FunctionParameterDecl(
name='geomgroup',
type=PointerType(
inner_type=ValueType(name='mjtByte', is_const=True),
),
),
FunctionParameterDecl(
name='flg_static',
type=ValueType(name='mjtByte'),
),
FunctionParameterDecl(
name='bodyexclude',
type=ValueType(name='int'),
),
FunctionParameterDecl(
name='geomid',
type=PointerType(
inner_type=ValueType(name='int'),
),
),
FunctionParameterDecl(
name='dist',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
),
FunctionParameterDecl(
name='nray',
type=ValueType(name='int'),
),
),
doc='Intersect multiple rays emanating from a single point. Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.', # pylint: disable=line-too-long
)),
('mj_ray',
FunctionDecl(
name='mj_ray',