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
@@ -546,6 +546,7 @@ PYBIND11_MODULE(_functions, pymodule) {
  Def<traits::mj_versionString>(pymodule);

  // Ray collision
+  Def<traits::mj_multiRay>(pymodule);
  Def<traits::mj_ray>(
      pymodule,
      [](const raw::MjModel* m, const raw::MjData* d, const mjtNum(*pnt)[3],