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Add mj_rayHfieldNormal (not exposed in public header)

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PiperOrigin-RevId: 842259581
Change-Id: I27d6c46024d55addbc22eed276331e2ef5acfa7d
This commit is contained in:
Yuval Tassa
2025-12-09 08:52:39 -08:00
committed by Copybara-Service
parent 7553541b4b
commit 5b1fa666fb
3 changed files with 67 additions and 17 deletions
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src/engine/engine_ray.h
+4
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@@ -46,6 +46,10 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], cons
MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
// intersect ray with hfield, compute normal if given
MJAPI mjtNum mj_rayHfieldNormal(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
// intersect ray with triangle
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
const mjtNum b0[3], const mjtNum b1[3], mjtNum normal[3]);