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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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wasm/codegen/generated/bindings.cc
+2 -2
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@@ -10631,7 +10631,7 @@ std::string mj_versionString_wrapper() {
void mj_multiRay_wrapper(const MjModel& m, MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtByte flg_static, int bodyexclude, const val& geomid, const val& dist, int nray, mjtNum cutoff) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_ARRAY(mjtByte, geomgroup);
UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
UNPACK_VALUE(int, geomid);
UNPACK_VALUE(mjtNum, dist);
CHECK_SIZE(dist, nray);
@@ -10643,7 +10643,7 @@ void mj_multiRay_wrapper(const MjModel& m, MjData& d, const NumberArray& pnt, co
mjtNum mj_ray_wrapper(const MjModel& m, const MjData& d, const NumberArray& pnt, const NumberArray& vec, const NumberArray& geomgroup, mjtByte flg_static, int bodyexclude, const val& geomid) {
UNPACK_ARRAY(mjtNum, pnt);
UNPACK_ARRAY(mjtNum, vec);
UNPACK_ARRAY(mjtByte, geomgroup);
UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
UNPACK_NULLABLE_VALUE(int, geomid);
return mj_ray(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data());
}