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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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unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -3280,6 +3280,9 @@ public static unsafe extern void mj_loadPluginLibrary([MarshalAs(UnmanagedType.L
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern int mj_version();
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_multiRay(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid, double* dist, int nray);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern double mj_ray(mjModel_* m, mjData_* d, double* pnt, double* vec, byte* geomgroup, byte flg_static, int bodyexclude, int* geomid);