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Add mj_raySdfNormal (not exposed in public header)

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PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
This commit is contained in:
Yuval Tassa
2025-12-09 04:42:44 -08:00
committed by Copybara-Service
parent bf49fe3daa
commit f65c1cdfd1
5 changed files with 66 additions and 8 deletions
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src/engine/engine_ray.h
+4
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@@ -58,6 +58,10 @@ MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
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);