Add additional data fields that can be reported by rangefinder sensors.

PiperOrigin-RevId: 848316991
Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82

src/engine/engine_support.h

@@ -31,6 +31,7 @@ MJAPI extern const char* mjTIMERSTRING[mjNTIMER];
 
 // arrays
 MJAPI extern const int mjCONDATA_SIZE[mjNCONDATA];  // TODO(tassa): expose in public header?
+extern const int mjRAYDATA_SIZE[mjNRAYDATA];
 
 
 //-------------------------- get/set state ---------------------------------------------------------
@@ -120,6 +121,9 @@ MJAPI const char* mj_versionString(void);
 // return total size of data fields in a contact sensor bitfield specification
 MJAPI int mju_condataSize(int dataSpec);
 
+// return total size of data fields in a rangefinder sensor bitfield specification
+int mju_raydataSize(int dataspec);
+
 // compute camera pixel parameters from model
 // outputs: fx, fy (focal length in pixels), cx, cy (principal point), ortho_extent
 void mju_camIntrinsics(const mjModel* m, int camid,