Add insidesite sensor for detecting when an object is inside the volume of a site.

PiperOrigin-RevId: 780993257 Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
2025-07-09 04:55:51 -07:00
parent a86461fc57
commit e6c5715903
17 changed files with 244 additions and 27 deletions
@@ -53,6 +53,10 @@ MJAPI mjtNum mju_muscleDynamics(mjtNum ctrl, mjtNum act, const mjtNum prm[3]);
 // all 3 semi-axes of a geom
 MJAPI void mju_geomSemiAxes(mjtNum semiaxes[3], const mjtNum size[3], mjtGeom type);

+// return 1 if point is inside a primitive geom, 0 otherwise
+int mju_insideGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3], mjtGeom type,
+                   const mjtNum point[3]);
+
 // ----------------------------- Flex interpolation ------------------------------------------------

 // evaluate the deformation gradient at p using the nodal dof values