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

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PiperOrigin-RevId: 780993257
Change-Id: I2dcfc840d222680adc3b934344a0819f4d78b6eb
This commit is contained in:
Yuval Tassa
2025-07-09 04:55:51 -07:00
committed by Copybara-Service
parent a86461fc57
commit e6c5715903
17 changed files with 244 additions and 27 deletions
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src/user/user_objects.cc
+14 -5
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@@ -3532,11 +3532,7 @@ void mjCSite::Compile(void) {
}
// size[1] = length (for capsule and cylinder)
double vec[3] = {
fromto[0]-fromto[3],
fromto[1]-fromto[4],
fromto[2]-fromto[5]
};
double vec[3] = {fromto[0]-fromto[3], fromto[1]-fromto[4], fromto[2]-fromto[5]};
size[1] = mjuu_normvec(vec, 3)/2;
if (size[1] < mjEPS) {
throw mjCError(this, "fromto points too close in geom");
@@ -6940,6 +6936,19 @@ void mjCSensor::Compile(void) {
}
break;
case mjSENS_INSIDESITE:
if (objtype != mjOBJ_BODY && objtype != mjOBJ_XBODY &&
objtype != mjOBJ_GEOM && objtype != mjOBJ_SITE && objtype != mjOBJ_CAMERA) {
throw mjCError(this, "sensor must be attached to (x)body, geom, site or camera");
}
if (reftype != mjOBJ_SITE) {
throw mjCError(this, "sensor must be associated with a site");
}
dim = 1;
datatype = mjDATATYPE_REAL;
needstage = mjSTAGE_POS;
break;
case mjSENS_GEOMDIST:
case mjSENS_GEOMNORMAL:
case mjSENS_GEOMFROMTO: