chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add cutoff argument to mj_multiRay.

Browse Source 
PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
This commit is contained in:
Alessio Quaglino
2023-05-15 10:43:12 -07:00
committed by Copybara-Service
parent ca9c55d22b
commit fcc825c5e6
7 changed files with 53 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_ray.h
+6 -4
View File
@@ -23,15 +23,17 @@
extern "C" {
#endif
MJAPI void mju_multiRayPrepare(const mjModel* m, const mjData* d, const mjtNum pnt[3],
const mjtNum* ray_xmat, const mjtByte* geomgroup, mjtByte flg_static,
int bodyexclude, mjtNum* geom_ba, int* geom_eliminate);
MJAPI void mju_multiRayPrepare(const mjModel* m, const mjData* d,
const mjtNum pnt[3], const mjtNum* ray_xmat,
const mjtByte* geomgroup, mjtByte flg_static,
int bodyexclude, mjtNum cutoff, mjtNum* geom_ba,
int* geom_eliminate);
// Intersect multiple rays emanating from a single source
// 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 on bodyexclude
// return geomid and distance (x) to nearest surface, or -1 if no intersection