Add cutoff argument to mj_multiRay.

PiperOrigin-RevId: 532158635 Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
2023-05-15 10:43:12 -07:00
parent ca9c55d22b
commit fcc825c5e6
7 changed files with 53 additions and 26 deletions
@@ -488,7 +488,7 @@ MJAPI const char* mj_versionString();
 // Similar semantics to mj_ray, but vec is an array of (nray x 3) directions.
 MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum* vec,
                       const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
-                       int* geomid, mjtNum* dist, int nray);
+                       int* geomid, mjtNum* dist, int nray, mjtNum cutoff);

 // Intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms in bodyexclude.
 // Return distance (x) to nearest surface, or -1 if no intersection and output geomid.