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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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test/engine/engine_ray_test.cc
+8 -1
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@@ -476,11 +476,12 @@ static const char* const kCylinderModel = "engine/testdata/ray/cylinder.xml";
static const char* const kBoxModel = "engine/testdata/ray/box.xml";
static const char* const kMeshModel = "engine/testdata/ray/mesh.xml";
static const char* const kSdfModel = "engine/testdata/ray/sdf.xml";
static const char* const kHfieldModel = "engine/testdata/ray/hfield.xml";
TEST_F(RayTest, GeomNormal) {
for (const char* path :
{kPlaneModel, kSphereModel, kCapsuleModel, kEllipsoidModel,
kCylinderModel, kBoxModel, kMeshModel, kSdfModel}) {
kCylinderModel, kBoxModel, kMeshModel, kSdfModel, kHfieldModel}) {
const std::string xml_path = GetTestDataFilePath(path);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
@@ -528,6 +529,9 @@ TEST_F(RayTest, GeomNormal) {
case mjGEOM_SDF:
r = mj_raySdfNormal(m, d, 0, pnt, vec, normal);
break;
case mjGEOM_HFIELD:
r = mj_rayHfieldNormal(m, d, 0, pnt, vec, normal);
break;
default:
r = mju_rayGeomNormal(pos, mat, size, pnt, vec, type, normal);
}
@@ -562,6 +566,9 @@ TEST_F(RayTest, GeomNormal) {
case mjGEOM_SDF:
dr = mj_raySdfNormal(m, d, 0, dpnt, vec, nullptr);
break;
case mjGEOM_HFIELD:
dr = mj_rayHfieldNormal(m, d, 0, dpnt, vec, nullptr);
break;
default:
dr = mju_rayGeomNormal(pos, mat, size, dpnt, vec, type, nullptr);
}