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Add mj_rayMeshNormal (not exposed in public header)

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PiperOrigin-RevId: 838707353
Change-Id: If31d2454e0668f750bcba21ee42f81ef962e9097
This commit is contained in:
Yuval Tassa
2025-12-01 04:13:07 -08:00
committed by Copybara-Service
parent 139a5b6494
commit ad24889bb9
4 changed files with 88 additions and 28 deletions
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src/engine/engine_ray.c
+47 -18
View File
@@ -130,7 +130,10 @@ static mjtNum ray_quad(mjtNum a, mjtNum b, mjtNum c, mjtNum x[2]) {
// intersect ray with triangle
mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
const mjtNum b0[3], const mjtNum b1[3]) {
const mjtNum b0[3], const mjtNum b1[3], mjtNum normal[3]) {
// clear normal if given
if (normal) mju_zero3(normal);
// dif = v[i] - lpnt
mjtNum dif[3][3];
for (int i=0; i < 3; i++) {
@@ -182,9 +185,17 @@ mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
return -1;
}
return (-mju_dot3(dif[2], nrm) / denom);
}
// compute distance
mjtNum x = -mju_dot3(dif[2], nrm) / denom;
// compute normal if given
if (normal) {
mju_normalize3(nrm);
mju_copy3(normal, nrm);
}
return x;
}
//---------------------------- geom-specific intersection functions --------------------------------
@@ -639,7 +650,7 @@ mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id,
{dx*(c+1)-size[0], dy*(r+1)-size[1], data[(r+1)*ncol+(c+1)]*size[2]},
{dx*(c+1)-size[0], dy*(r+0)-size[1], data[(r+0)*ncol+(c+1)]*size[2]}
};
mjtNum sol = ray_triangle(va, lpnt, lvec, b0, b1);
mjtNum sol = ray_triangle(va, lpnt, lvec, b0, b1, NULL);
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
}
@@ -650,7 +661,7 @@ mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int id,
{dx*(c+1)-size[0], dy*(r+1)-size[1], data[(r+1)*ncol+(c+1)]*size[2]},
{dx*(c+0)-size[0], dy*(r+1)-size[1], data[(r+1)*ncol+(c+0)]*size[2]}
};
sol = ray_triangle(vb, lpnt, lvec, b0, b1);
sol = ray_triangle(vb, lpnt, lvec, b0, b1, NULL);
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
}
@@ -721,9 +732,13 @@ int mju_raySlab(const mjtNum aabb[6], const mjtNum xpos[3],
return tmin < tmax;
}
// ray vs tree intersection
mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3],
const mjtNum vec[3]) {
const mjtNum vec[3], mjtNum normal[3]) {
// clear normal if given
if (normal) mju_zero3(normal);
int mark_active = m->vis.global.bvactive;
const int meshid = m->geom_dataid[id];
const int bvhadr = m->mesh_bvhadr[meshid];
@@ -761,6 +776,7 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3
// init solution
mjtNum x = -1, sol;
mjtNum normal_local[3];
while (nstack) {
// pop from stack
@@ -794,14 +810,13 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3
}
// solve
sol = ray_triangle(v, lpnt, lvec, b0, b1);
sol = ray_triangle(v, lpnt, lvec, b0, b1, normal ? normal_local : NULL);
// update
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
if (mark_active) {
d->bvh_active[node + bvhadr] = 1;
}
if (normal) mju_copy3(normal, normal_local);
if (mark_active) d->bvh_active[node + bvhadr] = 1;
}
continue;
}
@@ -823,6 +838,11 @@ mjtNum mju_rayTree(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3
}
}
// rotate normal to global frame
if (normal && x >= 0) {
mju_mulMatVec3(normal, d->geom_xmat+9*id, normal);
}
return x;
}
@@ -886,10 +906,12 @@ mjtNum ray_sdf(const mjModel* m, const mjData* d, int g,
return -1;
}
// intersect ray with mesh, compute normal if given
mjtNum mj_rayMeshNormal(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3],
const mjtNum vec[3], mjtNum normal[3]) {
// clear normal if given
if (normal) mju_zero3(normal);
// intersect ray with mesh
mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
const mjtNum pnt[3], const mjtNum vec[3]) {
// check geom type
if (m->geom_type[id] != mjGEOM_MESH) {
mjERROR("geom with mesh type expected");
@@ -900,7 +922,13 @@ mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id,
return -1;
}
return mju_rayTree(m, d, id, pnt, vec);
return mju_rayTree(m, d, id, pnt, vec, normal);
}
// intersect ray with mesh
mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int id, const mjtNum pnt[3],
const mjtNum vec[3]) {
return mj_rayMeshNormal(m, d, id, pnt, vec, NULL);
}
// intersect ray and find normal with primitive geom, no meshes or hfields, compute normal if given
@@ -931,6 +959,7 @@ mjtNum mju_rayGeomNormal(const mjtNum pos[3], const mjtNum mat[9], const mjtNum
}
}
// intersect ray with primitive geom, no meshes or hfields
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) {
@@ -1075,14 +1104,14 @@ mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte fl
int vid[4][3] = {{0, 1, 2}, {0, 1, 3}, {0, 2, 3}, {1, 2, 3}};
// process triangles of this element
for (int i=0; i < (dim == 2?1:4); i++) {
for (int i = 0; i < (dim == 2 ? 1 : 4); i++) {
// copy vertices into triangle representation
mjtNum v[3][3];
for (int j=0; j < 3; j++)
mju_copy3(v[j], vptr[i][j]);
// intersect ray with triangle
mjtNum sol = ray_triangle(v, pnt, vec, b0, b1);
mjtNum sol = ray_triangle(v, pnt, vec, b0, b1, NULL);
// update
if (sol >= 0 && (x < 0 || sol < x)) {
@@ -1179,7 +1208,7 @@ mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
}
// solve
mjtNum sol = ray_triangle(v, pnt, vec, b0, b1);
mjtNum sol = ray_triangle(v, pnt, vec, b0, b1, NULL);
// update
if (sol >= 0 && (x < 0 || sol < x)) {
@@ -1434,7 +1463,7 @@ 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 precomputed bv and flags
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) {
src/engine/engine_ray.h
+7 -3
View File
@@ -29,8 +29,8 @@ MJAPI void mju_multiRayPrepare(const mjModel* m, const mjData* d,
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.
// 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[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
@@ -48,12 +48,16 @@ MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
// intersect ray with triangle
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
const mjtNum b0[3], const mjtNum b1[3]);
const mjtNum b0[3], const mjtNum b1[3], mjtNum normal[3]);
// intersect ray with mesh
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
// intersect ray with mesh, compute normal if given
MJAPI mjtNum mj_rayMeshNormal(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
// intersect ray with primitive geom, no meshes or hfields
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);
test/engine/engine_ray_test.cc
+21 -7
View File
@@ -350,7 +350,7 @@ mjtNum _rayMesh(const mjModel* m, const mjData* d, int geomid,
}
// solve
sol = ray_triangle(v, lpnt, lvec, b0, b1);
sol = ray_triangle(v, lpnt, lvec, b0, b1, nullptr);
// update
if (sol >= 0 && (x < 0 || sol < x)) {
@@ -474,10 +474,12 @@ static const char* const kCapsuleModel = "engine/testdata/ray/capsule.xml";
static const char* const kEllipsoidModel = "engine/testdata/ray/ellipsoid.xml";
static const char* const kCylinderModel = "engine/testdata/ray/cylinder.xml";
static const char* const kBoxModel = "engine/testdata/ray/box.xml";
static const char* const kMeshModel = "engine/testdata/ray/mesh.xml";
TEST_F(RayTest, GeomNormal) {
for (const char* path : {kPlaneModel, kSphereModel, kCapsuleModel,
kEllipsoidModel, kCylinderModel, kBoxModel}) {
for (const char* path :
{kPlaneModel, kSphereModel, kCapsuleModel, kEllipsoidModel,
kCylinderModel, kBoxModel, kMeshModel}) {
const std::string xml_path = GetTestDataFilePath(path);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
@@ -517,8 +519,14 @@ TEST_F(RayTest, GeomNormal) {
const mjtNum vec[3] = {d->site_xmat[2], d->site_xmat[5], d->site_xmat[8]};
// compute ray length and normal
mjtNum normal[3];
mjtNum r = mju_rayGeomNormal(pos, mat, size, pnt, vec, type, normal);
mjtNum r, normal[3];
switch (type) {
case mjGEOM_MESH:
r = mj_rayMeshNormal(m, d, 0, pnt, vec, normal);
break;
default:
r = mju_rayGeomNormal(pos, mat, size, pnt, vec, type, normal);
}
// compare with sensor
EXPECT_EQ(r, d->sensordata[0]) << path << ", time " << d->time;
@@ -540,9 +548,15 @@ TEST_F(RayTest, GeomNormal) {
mjtNum nudge[3] = {d->site_xmat[0 + i],
d->site_xmat[3 + i],
d->site_xmat[6 + i]};
mjtNum dpnt[3];
mjtNum dr, dpnt[3];
mju_addScl3(dpnt, pnt, nudge, eps);
mjtNum dr = mju_rayGeomNormal(pos, mat, size, dpnt, vec, type, nullptr);
switch (type) {
case mjGEOM_MESH:
dr = mj_rayMeshNormal(m, d, 0, dpnt, vec, nullptr);
break;
default:
dr = mju_rayGeomNormal(pos, mat, size, dpnt, vec, type, nullptr);
}
mju_addScl3(ds[i], dpnt, vec, dr);
}
test/engine/testdata/ray/mesh.xml
Vendored
+13
View File
@@ -0,0 +1,13 @@
<mujoco>
<asset>
<mesh file="stanford_bunny.obj" scale="10 10 10"/>
</asset>
<include file="ray_swing.xml"/>
<worldbody>
<body pos="-.5 .002 -1" euler="90 0 -40" mocap="true">
<geom type="mesh" mesh="stanford_bunny"/>
</body>
</worldbody>
</mujoco>