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Clean up ray functions

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PiperOrigin-RevId: 833299985
Change-Id: I30aabe889ccc5900ff0e50a578e98e176d3effa4
This commit is contained in:
Yuval Tassa
2025-11-17 05:46:52 -08:00
committed by Copybara-Service
parent 53e254b715
commit a66cf303f8
8 changed files with 73 additions and 65 deletions
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doc/APIreference/functions.rst
+3 -1
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@@ -1143,6 +1143,8 @@ Intersect multiple rays emanating from a single point.
Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.
*Nullable:* ``geomgroup``
.. _mj_ray:
`mj_ray <#mj_ray>`__
@@ -1161,7 +1163,7 @@ If flg_static is 0, static geoms will be excluded.
bodyexclude=-1 can be used to indicate that all bodies are included.
*Nullable:* ``geomid``
*Nullable:* ``geomgroup``, ``geomid``
.. _mj_rayHfield:
doc/APIreference/functions_override.rst
+1 -1
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@@ -340,7 +340,7 @@ If flg_static is 0, static geoms will be excluded.
bodyexclude=-1 can be used to indicate that all bodies are included.
*Nullable:* ``geomid``
*Nullable:* ``geomgroup``, ``geomid``
.. _Interaction:
doc/includes/references.h
+2 -2
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@@ -3228,7 +3228,7 @@ void mj_loadPluginLibrary(const char* path);
void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
int mj_version(void);
const char* mj_versionString(void);
void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
@@ -3242,7 +3242,7 @@ mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3
const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
mjtNum mju_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, const mjtNum* vec, int vertid[1]);
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
void mjv_defaultCamera(mjvCamera* cam);