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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. Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.
*Nullable:* ``geomgroup``
.. _mj_ray: .. _mj_ray:
`mj_ray <#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. bodyexclude=-1 can be used to indicate that all bodies are included.
*Nullable:* ``geomid`` *Nullable:* ``geomgroup``, ``geomid``
.. _mj_rayHfield: .. _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. bodyexclude=-1 can be used to indicate that all bodies are included.
*Nullable:* ``geomid`` *Nullable:* ``geomgroup``, ``geomid``
.. _Interaction: .. _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); void mj_loadAllPluginLibraries(const char* directory, mjfPluginLibraryLoadCallback callback);
int mj_version(void); int mj_version(void);
const char* mj_versionString(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, const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff); 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], 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); 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, 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, 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, mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]); const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
void mjv_defaultCamera(mjvCamera* cam); void mjv_defaultCamera(mjvCamera* cam);
include/mujoco/mujoco.h
+4 -3
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@@ -619,14 +619,15 @@ MJAPI const char* mj_versionString(void);
// Intersect multiple rays emanating from a single point. // Intersect multiple rays emanating from a single point.
// Similar semantics to mj_ray, but vec is an array of (nray x 3) directions. // 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, // Nullable: geomgroup
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, const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff); int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
// Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude. // Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
// Return distance (x) to nearest surface, or -1 if no intersection and output geomid. // Return distance (x) to nearest surface, or -1 if no intersection and output geomid.
// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion. // geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion.
// Nullable: geomid // Nullable: geomgroup, geomid
MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3], 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, const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]); int geomid[1]);
@@ -648,7 +649,7 @@ MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum
// Nullable: vertid // Nullable: vertid
MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert, 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, 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 distance or -1 if no intersection, // Intersect ray with skin, return nearest distance or -1 if no intersection,
// and also output nearest vertex id. // and also output nearest vertex id.
python/mujoco/introspect/functions.py
+8 -3
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@@ -3685,8 +3685,9 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='vec', name='vec',
type=PointerType( type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True), inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
), ),
), ),
FunctionParameterDecl( FunctionParameterDecl(
@@ -3694,6 +3695,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType( type=PointerType(
inner_type=ValueType(name='mjtByte', is_const=True), inner_type=ValueType(name='mjtByte', is_const=True),
), ),
nullable=True,
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='flg_static', name='flg_static',
@@ -3762,6 +3764,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
type=PointerType( type=PointerType(
inner_type=ValueType(name='mjtByte', is_const=True), inner_type=ValueType(name='mjtByte', is_const=True),
), ),
nullable=True,
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='flg_static', name='flg_static',
@@ -3948,14 +3951,16 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='pnt', name='pnt',
type=PointerType( type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True), inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
), ),
), ),
FunctionParameterDecl( FunctionParameterDecl(
name='vec', name='vec',
type=PointerType( type=ArrayType(
inner_type=ValueType(name='mjtNum', is_const=True), inner_type=ValueType(name='mjtNum', is_const=True),
extents=(3,),
), ),
), ),
FunctionParameterDecl( FunctionParameterDecl(
src/engine/engine_ray.c
+42 -42
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@@ -35,8 +35,9 @@
//---------------------------- utility functions --------------------------------------------------- //---------------------------- utility functions ---------------------------------------------------
// map ray to local geom frame // map ray to local geom frame
static void ray_map(const mjtNum* pos, const mjtNum* mat, const mjtNum* pnt, const mjtNum* vec, static void ray_map(const mjtNum pos[3], const mjtNum mat[9],
mjtNum* lpnt, mjtNum* lvec) { const mjtNum pnt[3], const mjtNum vec[3],
mjtNum lpnt[3], mjtNum lvec[3]) {
const mjtNum dif[3] = {pnt[0]-pos[0], pnt[1]-pos[1], pnt[2]-pos[2]}; const mjtNum dif[3] = {pnt[0]-pos[0], pnt[1]-pos[1], pnt[2]-pos[2]};
// lpnt = mat' * dif // lpnt = mat' * dif
@@ -98,35 +99,38 @@ static int ray_eliminate(const mjModel* m, const mjData* d, int geomid,
} }
// compute solution from quadratic: a*x^2 + 2*b*x + c = 0 // compute both real solutions of a*x^2 + 2*b*x + c = 0, return smallest non-negative solution if any
static mjtNum ray_quad(mjtNum a, mjtNum b, mjtNum c, mjtNum* x) { static mjtNum ray_quad(mjtNum a, mjtNum b, mjtNum c, mjtNum x[2]) {
// compute determinant and check // compute determinant
mjtNum det = b*b - a*c; mjtNum det = b*b - a*c;
if (det < mjMINVAL) {
// return if real finite solutions don't exist
if (det < 0 || a < mjMINVAL) {
x[0] = -1; x[0] = -1;
x[1] = -1; x[1] = -1;
return -1; return -1;
} }
det = mju_sqrt(det);
// compute the two solutions // compute the two solutions, x[0] <= x[1] is guaranteed
det = mju_sqrt(det);
x[0] = (-b-det)/a; x[0] = (-b-det)/a;
x[1] = (-b+det)/a; x[1] = (-b+det)/a;
// finalize result // return smallest non-negative solution
if (x[0] >= 0) { if (x[0] >= 0) {
return x[0]; return x[0];
} else if (x[1] >= 0) { } else if (x[1] >= 0) {
return x[1]; return x[1];
} else {
return -1;
} }
// both solutions are negative
return -1;
} }
// intersect ray with triangle // intersect ray with triangle
mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec, mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
const mjtNum* b0, const mjtNum* b1) { const mjtNum b0[3], const mjtNum b1[3]) {
// dif = v[i] - lpnt // dif = v[i] - lpnt
mjtNum dif[3][3]; mjtNum dif[3][3];
for (int i=0; i < 3; i++) { for (int i=0; i < 3; i++) {
@@ -159,7 +163,7 @@ mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec,
if (mju_abs(det) < mjMINVAL) { if (mju_abs(det) < mjMINVAL) {
return -1; return -1;
} }
mjtNum t0 = (A[3]*b[0] - A[1]*b[1]) / det; mjtNum t0 = ( A[3]*b[0] - A[1]*b[1]) / det;
mjtNum t1 = (-A[2]*b[0] + A[0]*b[1]) / det; mjtNum t1 = (-A[2]*b[0] + A[0]*b[1]) / det;
// check if outside // check if outside
@@ -184,8 +188,8 @@ mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec,
//---------------------------- geom-specific intersection functions -------------------------------- //---------------------------- geom-specific intersection functions --------------------------------
// plane // plane
static mjtNum ray_plane(const mjtNum* pos, const mjtNum* mat, const mjtNum* size, static mjtNum ray_plane(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum* pnt, const mjtNum* vec) { const mjtNum pnt[3], const mjtNum vec[3]) {
// map to local frame // map to local frame
mjtNum lpnt[3], lvec[3]; mjtNum lpnt[3], lvec[3];
ray_map(pos, mat, pnt, vec, lpnt, lvec); ray_map(pos, mat, pnt, vec, lpnt, lvec);
@@ -214,8 +218,8 @@ static mjtNum ray_plane(const mjtNum* pos, const mjtNum* mat, const mjtNum* size
// sphere // sphere
static mjtNum ray_sphere(const mjtNum* pos, const mjtNum* mat, mjtNum dist_sqr, static mjtNum ray_sphere(const mjtNum pos[3], const mjtNum mat[9], mjtNum dist_sqr,
const mjtNum* pnt, const mjtNum* vec) { const mjtNum pnt[3], const mjtNum vec[3]) {
// (x*vec+pnt-pos)'*(x*vec+pnt-pos) = size[0]*size[0] // (x*vec+pnt-pos)'*(x*vec+pnt-pos) = size[0]*size[0]
mjtNum dif[3] = {pnt[0]-pos[0], pnt[1]-pos[1], pnt[2]-pos[2]}; mjtNum dif[3] = {pnt[0]-pos[0], pnt[1]-pos[1], pnt[2]-pos[2]};
mjtNum a = vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2]; mjtNum a = vec[0]*vec[0] + vec[1]*vec[1] + vec[2]*vec[2];
@@ -295,8 +299,8 @@ static mjtNum ray_capsule(const mjtNum* pos, const mjtNum* mat, const mjtNum* si
// ellipsoid // ellipsoid
static mjtNum ray_ellipsoid(const mjtNum* pos, const mjtNum* mat, const mjtNum* size, static mjtNum ray_ellipsoid(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum* pnt, const mjtNum* vec) { const mjtNum pnt[3], const mjtNum vec[3]) {
// map to local frame // map to local frame
mjtNum lpnt[3], lvec[3]; mjtNum lpnt[3], lvec[3];
ray_map(pos, mat, pnt, vec, lpnt, lvec); ray_map(pos, mat, pnt, vec, lpnt, lvec);
@@ -316,8 +320,8 @@ static mjtNum ray_ellipsoid(const mjtNum* pos, const mjtNum* mat, const mjtNum*
// cylinder // cylinder
static mjtNum ray_cylinder(const mjtNum* pos, const mjtNum* mat, const mjtNum* size, static mjtNum ray_cylinder(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum* pnt, const mjtNum* vec) { const mjtNum pnt[3], const mjtNum vec[3]) {
// bounding sphere test // bounding sphere test
mjtNum ssz = size[0]*size[0] + size[1]*size[1]; mjtNum ssz = size[0]*size[0] + size[1]*size[1];
if (ray_sphere(pos, NULL, ssz, pnt, vec) < 0) { if (ray_sphere(pos, NULL, ssz, pnt, vec) < 0) {
@@ -375,14 +379,10 @@ static mjtNum ray_cylinder(const mjtNum* pos, const mjtNum* mat, const mjtNum* s
// box // box
static mjtNum ray_box(const mjtNum* pos, const mjtNum* mat, const mjtNum* size, static mjtNum ray_box(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum* pnt, const mjtNum* vec, mjtNum* all) { const mjtNum pnt[3], const mjtNum vec[3], mjtNum all[6]) {
// clear all // clear all
if (all) { if (all) all[0] = all[1] = all[2] = all[3] = all[4] = all[5] = -1;
for (int i=0; i < 6; i++) {
all[i] = -1;
}
}
// bounding sphere test // bounding sphere test
mjtNum ssz = size[0]*size[0] + size[1]*size[1] + size[2]*size[2]; mjtNum ssz = size[0]*size[0] + size[1]*size[1] + size[2]*size[2];
@@ -441,7 +441,7 @@ static mjtNum ray_box(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
// intersect ray with hfield // intersect ray with hfield
mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id, mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id,
const mjtNum* pnt, const mjtNum* vec) { const mjtNum pnt[3], const mjtNum vec[3]) {
// check geom type // check geom type
if (m->geom_type[id] != mjGEOM_HFIELD) { if (m->geom_type[id] != mjGEOM_HFIELD) {
mjERROR("geom with hfield type expected"); mjERROR("geom with hfield type expected");
@@ -589,7 +589,7 @@ mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id,
// ray vs axis-aligned bounding box using slab method // ray vs axis-aligned bounding box using slab method
// see Ericson, Real-time Collision Detection section 5.3.3. // see Ericson, Real-time Collision Detection section 5.3.3.
int mju_raySlab(const mjtNum aabb[6], const mjtNum xpos[3], int mju_raySlab(const mjtNum aabb[6], const mjtNum xpos[3],
const mjtNum xmat[9], const mjtNum* pnt, const mjtNum* vec) { const mjtNum xmat[9], const mjtNum pnt[3], const mjtNum vec[3]) {
mjtNum tmin = 0.0, tmax = INFINITY; mjtNum tmin = 0.0, tmax = INFINITY;
// compute min and max // compute min and max
@@ -615,8 +615,8 @@ int mju_raySlab(const mjtNum aabb[6], const mjtNum xpos[3],
} }
// ray vs tree intersection // ray vs tree intersection
mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt, mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3],
const mjtNum* vec) { const mjtNum vec[3]) {
int mark_active = m->vis.global.bvactive; int mark_active = m->vis.global.bvactive;
const int meshid = m->geom_dataid[id]; const int meshid = m->geom_dataid[id];
const int bvhadr = m->mesh_bvhadr[meshid]; const int bvhadr = m->mesh_bvhadr[meshid];
@@ -722,7 +722,7 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum* pnt,
// intersect ray with signed distance field // intersect ray with signed distance field
mjtNum ray_sdf(const mjModel* m, const mjData* d, int g, mjtNum ray_sdf(const mjModel* m, const mjData* d, int g,
const mjtNum* pnt, const mjtNum* vec) { const mjtNum pnt[3], const mjtNum vec[3]) {
mjtNum distance_total = 0; mjtNum distance_total = 0;
mjtNum p[3]; mjtNum p[3];
mjtNum kMinDist = 1e-7; mjtNum kMinDist = 1e-7;
@@ -782,7 +782,7 @@ mjtNum ray_sdf(const mjModel* m, const mjData* d, int g,
// intersect ray with mesh // intersect ray with mesh
mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id, mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
const mjtNum* pnt, const mjtNum* vec) { const mjtNum pnt[3], const mjtNum vec[3]) {
// check geom type // check geom type
if (m->geom_type[id] != mjGEOM_MESH) { if (m->geom_type[id] != mjGEOM_MESH) {
mjERROR("geom with mesh type expected"); mjERROR("geom with mesh type expected");
@@ -798,8 +798,8 @@ mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
// intersect ray with pure geom, no meshes or hfields // intersect ray with pure geom, no meshes or hfields
mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size, mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum* pnt, const mjtNum* vec, int geomtype) { const mjtNum pnt[3], const mjtNum vec[3], int geomtype) {
switch ((mjtGeom) geomtype) { switch ((mjtGeom) geomtype) {
case mjGEOM_PLANE: case mjGEOM_PLANE:
return ray_plane(pos, mat, size, pnt, vec); return ray_plane(pos, mat, size, pnt, vec);
@@ -829,7 +829,7 @@ mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size,
// intersect ray with flex, return nearest vertex id // intersect ray with flex, return nearest vertex id
mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert, 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, 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]) {
int dim = m->flex_dim[flexid]; int dim = m->flex_dim[flexid];
// compute bounding box // compute bounding box
@@ -1005,7 +1005,7 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
// intersect ray with skin, return nearest vertex id // intersect ray with skin, return nearest vertex id
mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert, 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]) {
// compute bounding box // compute bounding box
mjtNum box[3][2] = {{0, 0}, {0, 0}, {0, 0}}; mjtNum box[3][2] = {{0, 0}, {0, 0}, {0, 0}};
for (int i=0; i < nvert; i++) { for (int i=0; i < nvert; i++) {
@@ -1121,7 +1121,7 @@ static int point_in_box(const mjtNum aabb[6], const mjtNum xpos[3],
// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude // 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 // 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 // geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion
mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum* vec, 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]) { const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude, int geomid[1]) {
mjtNum dist, newdist; mjtNum dist, newdist;
@@ -1166,7 +1166,7 @@ mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum* pnt, const mjtNum
// Initializes spherical bounding angles (geom_ba) and flag vector for a given source // Initializes spherical bounding angles (geom_ba) and flag vector for a given source
void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3], void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
const mjtNum* ray_xmat, const mjtByte* geomgroup, mjtByte flg_static, const mjtNum ray_xmat[9], const mjtByte* geomgroup, mjtByte flg_static,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba, int* geom_eliminate) { int bodyexclude, mjtNum cutoff, mjtNum* geom_ba, int* geom_eliminate) {
if (ray_xmat) { if (ray_xmat) {
mjERROR("ray_xmat is currently unused, should be NULL"); mjERROR("ray_xmat is currently unused, should be NULL");
@@ -1324,7 +1324,7 @@ static mjtNum mju_singleRay(const mjModel* m, mjData* d, const mjtNum pnt[3], co
// Performs multiple ray intersections with the precomputes bv and flags // Performs multiple ray intersections with the precomputes bv and flags
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, const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff) { int* geomid, mjtNum* dist, int nray, mjtNum cutoff) {
mj_markStack(d); mj_markStack(d);
src/engine/engine_ray.h
+11 -11
View File
@@ -24,48 +24,48 @@ extern "C" {
#endif #endif
MJAPI void mju_multiRayPrepare(const mjModel* m, const mjData* d, 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, const mjtByte* geomgroup, mjtByte flg_static,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba, int bodyexclude, mjtNum cutoff, mjtNum* geom_ba,
int* geom_eliminate); int* geom_eliminate);
// Intersect multiple rays emanating from a single source // Intersect multiple rays emanating from a single source
// Similar semantics to mj_ray, but vec is an array of (nray x 3) directions. // 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, const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff); int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude // 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 // 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 // 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, const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1]); int geomid[1]);
// intersect ray with hfield // intersect ray with hfield
MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid, 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 // intersect ray with triangle
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum* lpnt, const mjtNum* lvec, MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
const mjtNum* b0, const mjtNum* b1); const mjtNum b0[3], const mjtNum b1[3]);
// intersect ray with mesh // intersect ray with mesh
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid, 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 // intersect ray with pure geom, no meshes or hfields
MJAPI mjtNum mju_rayGeom(const mjtNum* pos, const mjtNum* mat, const mjtNum* size, MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum* pnt, const mjtNum* vec, int geomtype); const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
// intersect ray with flex, return nearest vertex id // intersect ray with flex, return nearest vertex id
MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert, 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, 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 // intersect ray with skin, return nearest vertex id
MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert, 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 #ifdef __cplusplus
} }
wasm/codegen/generated/bindings.cc
+2 -2
View File
@@ -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) { 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, pnt);
UNPACK_ARRAY(mjtNum, vec); UNPACK_ARRAY(mjtNum, vec);
UNPACK_ARRAY(mjtByte, geomgroup); UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
UNPACK_VALUE(int, geomid); UNPACK_VALUE(int, geomid);
UNPACK_VALUE(mjtNum, dist); UNPACK_VALUE(mjtNum, dist);
CHECK_SIZE(dist, nray); 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) { 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, pnt);
UNPACK_ARRAY(mjtNum, vec); UNPACK_ARRAY(mjtNum, vec);
UNPACK_ARRAY(mjtByte, geomgroup); UNPACK_NULLABLE_ARRAY(mjtByte, geomgroup);
UNPACK_NULLABLE_VALUE(int, geomid); UNPACK_NULLABLE_VALUE(int, geomid);
return mj_ray(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data()); return mj_ray(m.get(), d.get(), pnt_.data(), vec_.data(), geomgroup_.data(), flg_static, bodyexclude, geomid_.data());
} }