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 +1,7 @@
+<mujoco>
+  <include file="ray_swing.xml"/>
+
+  <worldbody>
+    <geom type="sphere" size=".7" pos=".001 .002 .003"/>
+  </worldbody>
+</mujoco>