Add ray normal computation for primitives (currently private)

PiperOrigin-RevId: 834294539 Change-Id: I176f13a8f91dede589338fc44e099a16bac0b580
2025-11-19 08:00:13 -08:00
parent 86a77ff8eb
commit d1317fd1a5
10 changed files with 335 additions and 34 deletions
@@ -0,0 +1,9 @@
+<mujoco>
+  <include file="ray_swing.xml"/>
+
+  <worldbody>
+    <body pos=".001 .002 .003" euler="10 -20 30" mocap="true">
+      <geom type="box" size=".3 .5 .7"/>
+    </body>
+  </worldbody>
+</mujoco>
@@ -0,0 +1,9 @@
+<mujoco>
+  <include file="ray_swing.xml"/>
+
+  <worldbody>
+    <body pos=".001 .002 .003" euler="10 -20 30" mocap="true">
+      <geom type="capsule" size=".3 .7"/>
+    </body>
+  </worldbody>
+</mujoco>
@@ -0,0 +1,9 @@
+<mujoco>
+  <include file="ray_swing.xml"/>
+
+  <worldbody>
+    <body pos=".001 .002 .003" euler="10 -20 30" mocap="true">
+      <geom type="cylinder" size=".3 .5"/>
+    </body>
+  </worldbody>
+</mujoco>
@@ -0,0 +1,9 @@
+<mujoco>
+  <include file="ray_swing.xml"/>
+
+  <worldbody>
+    <body pos=".001 .002 .003" euler="10 -20 30" mocap="true">
+      <geom type="ellipsoid" size=".3 .5 .7"/>
+    </body>
+  </worldbody>
+</mujoco>
@@ -0,0 +1,7 @@
+<mujoco>
+  <include file="ray_swing.xml"/>
+
+  <worldbody>
+    <geom type="plane" size="2 1 .01" zaxis="1 0 2"/>
+  </worldbody>
+</mujoco>
@@ -0,0 +1,22 @@
+<mujoco>
+  <visual>
+    <global realtime=".25"/>
+  </visual>
+
+  <default>
+    <geom rgba=".5 .5 .5 .5"/>
+  </default>
+
+  <worldbody>
+    <light pos="0 0 3"/>
+    <body pos="1 0 0">
+      <joint axis="0 -1 0" armature="1" stiffness="10" damping="8" springref="200"/>
+      <inertial mass="1" diaginertia=".002 .002 .002" pos="0 0 1.1"/>
+      <site name="rf" type="cylinder" pos="-.1 0 1.1" zaxis="-1 .1 0" size=".02 .05"/>
+    </body>
+  </worldbody>
+
+  <sensor>
+    <rangefinder site="rf"/>
+  </sensor>
+</mujoco>
@@ -0,0 +1,7 @@
+<mujoco>
+  <include file="ray_swing.xml"/>
+
+  <worldbody>
+    <geom type="sphere" size=".7" pos=".001 .002 .003"/>
+  </worldbody>
+</mujoco>