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Consolidate ray normal functions.

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PiperOrigin-RevId: 842300829
Change-Id: Ic5e921084710cb044a4f49ea9b566d277838aaa1
This commit is contained in:
Yuval Tassa
2025-12-09 10:35:10 -08:00
committed by Copybara-Service
parent 85e6f6de3c
commit f06aa45ea6
3 changed files with 50 additions and 72 deletions
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src/engine/engine_ray.h
+4 -16
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@@ -46,10 +46,6 @@ MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], cons
MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
// intersect ray with hfield, compute normal if given
MJAPI mjtNum mj_rayHfieldNormal(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
// intersect ray with triangle
MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
const mjtNum b0[3], const mjtNum b1[3], mjtNum normal[3]);
@@ -58,22 +54,14 @@ MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec
MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3]);
// intersect ray with mesh, compute normal if given
MJAPI mjtNum mj_rayMeshNormal(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
// intersect ray with signed distance field, compute normal if given
MJAPI mjtNum mj_raySdfNormal(const mjModel* m, const mjData* d, int geomid,
const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
// intersect ray with primitive geom, no meshes or hfields
MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
// intersect ray with primitive geom, no meshes or hfields, compute normal if given
MJAPI mjtNum mju_rayGeomNormal(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
mjtNum normal[3]);
// intersect ray with geom, compute normal if given
MJAPI mjtNum mj_rayNormal(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
int geomid[1], mjtNum normal[3]);
// intersect ray with flex, return nearest vertex id
MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert,