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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.h
+5 -5
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@@ -25,14 +25,14 @@ extern "C" {
MJAPI 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 mjtByte* geomgroup, mjtBool flg_static,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba,
int* geom_eliminate);
// intersect multiple rays emanating from a single source, compute normals if given
// similar semantics to mj_ray, but vec, normal and dist are arrays
MJAPI 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);
@@ -40,7 +40,7 @@ MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const m
// 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
MJAPI 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]);
// intersect ray with hfield, compute normal if given
@@ -62,8 +62,8 @@ MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum
// intersect ray with flex, return nearest vertex id, compute normal if given
MJAPI 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]);
// intersect ray with skin, return nearest vertex id