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Add ray normal computation for primitives (currently private)

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PiperOrigin-RevId: 834294539
Change-Id: I176f13a8f91dede589338fc44e099a16bac0b580
This commit is contained in:
Yuval Tassa
2025-11-19 08:00:13 -08:00
committed by Copybara-Service
parent 86a77ff8eb
commit d1317fd1a5
10 changed files with 335 additions and 34 deletions
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src/engine/engine_ray.h
+6 -1
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@@ -54,10 +54,15 @@ MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
// intersect ray with pure geom, no meshes or hfields
// 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);
// intersect ray with primitive geom, no meshes or hfields, compute normal if given
MJAPI mjtNum mju_rayGeomNormal(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
mjtNum normal[3]);
// 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,