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Migrate mjtByte to mjtBool for boolean-valued fields.

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PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23
This commit is contained in:
Yuval Tassa
2026-05-26 05:35:15 -07:00
committed by Copybara-Service
parent 3cabb2eb8e
commit 393c1e4217
33 changed files with 242 additions and 224 deletions
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src/engine/engine_ray.c
+8 -8
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@@ -66,7 +66,7 @@ static mjtNum latitude(const mjtNum vec[3]) {
// eliminate geom
static int ray_eliminate(const mjModel* m, const mjData* d, int geomid,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude) {
const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude) {
// body exclusion
if (m->geom_bodyid[geomid] == bodyexclude) {
return 1;
@@ -850,14 +850,14 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
if (normal) mju_copy3(normal, normal_local);
if (mark_active) d->bvh_active[node + bvhadr] = 1;
if (mark_active) d->bvh_active[node + bvhadr] = true;
}
continue;
}
// used for rendering
if (mark_active) {
d->bvh_active[node + bvhadr] = 1;
d->bvh_active[node + bvhadr] = true;
}
// add children to the stack
@@ -1000,8 +1000,8 @@ mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3
// intersect ray with flex, return nearest vertex id, compute normal if given
mjtNum mj_rayFlex(const mjModel* m, const mjData* d, int flex_layer,
mjtByte flg_vert, mjtByte flg_edge, mjtByte flg_face,
mjtByte flg_skin, int flexid, const mjtNum pnt[3],
mjtBool flg_vert, mjtBool flg_edge, mjtBool flg_face,
mjtBool flg_skin, int flexid, const mjtNum pnt[3],
const mjtNum vec[3], int vertid[1], mjtNum normal[3]) {
int dim = m->flex_dim[flexid];
@@ -1306,7 +1306,7 @@ static int point_in_box(const mjtNum aabb[6], const mjtNum xpos[3],
// return geomid and distance (x) to nearest surface, or -1 if no intersection
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion
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,
const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
int geomid[1], mjtNum normal[3]) {
int ngeom = m->ngeom;
mjtNum dist, newdist;
@@ -1353,7 +1353,7 @@ mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtN
// Initializes spherical bounding angles (geom_ba) and flag vector for a given source
void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
const mjtNum ray_xmat[9], const mjtByte* geomgroup, mjtByte flg_static,
const mjtNum ray_xmat[9], const mjtByte* geomgroup, mjtBool flg_static,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba, int* geom_eliminate) {
if (ray_xmat) {
mjERROR("ray_xmat is currently unused, should be NULL");
@@ -1542,7 +1542,7 @@ static mjtNum mju_singleRay(const mjModel* m, mjData* d, const mjtNum pnt[3], co
// performs multiple ray intersections, compute normals if given
void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
const mjtByte* geomgroup, mjtBool flg_static, int bodyexclude,
int* geomid, mjtNum* dist, mjtNum* normal, int nray, mjtNum cutoff) {
mj_markStack(d);