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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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src/engine/engine_ray.h
+11 -11
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@@ -24,48 +24,48 @@ extern "C" {
#endif
MJAPI void mju_multiRayPrepare(const mjModel* m, const mjData* d,
const mjtNum pnt[3], const mjtNum* ray_xmat,
const mjtNum pnt[3], const mjtNum ray_xmat[9],
const mjtByte* geomgroup, mjtByte flg_static,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba,
int* geom_eliminate);
// Intersect multiple rays emanating from a single source
// Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.
MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
MJAPI 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);
// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude
// 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, const mjtNum* vec,
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,
int geomid[1]);
// intersect ray with hfield
MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum* pnt, const mjtNum* vec);
const mjtNum pnt[3], const mjtNum vec[3]);
// intersect ray with triangle
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec,
const mjtNum* b0, const mjtNum* b1);
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
const mjtNum b0[3], const mjtNum b1[3]);
// intersect ray with mesh
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum* pnt, const mjtNum* vec);
const mjtNum pnt[3], const mjtNum vec[3]);
// intersect ray with pure geom, no meshes or hfields
MJAPI mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
const mjtNum* pnt, const mjtNum* vec, int geomtype);
MJAPI 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);
// intersect ray with flex, return nearest vertex id
MJAPI 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]);
// intersect ray with skin, return nearest vertex id
MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum* pnt, const mjtNum* vec, int vertid[1]);
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
#ifdef __cplusplus
}