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="capsule" size=".3 .7"/>
+    </body>
+  </worldbody>
+</mujoco>