Yuval Tassa
f65c1cdfd1
PiperOrigin-RevId: 842178540 Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
88 lines
4.1 KiB
C
88 lines
4.1 KiB
C
// Copyright 2021 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_ENGINE_ENGINE_RAY_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_RAY_H_
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#include <mujoco/mjdata.h>
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#include <mujoco/mjexport.h>
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#include <mujoco/mjmodel.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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MJAPI void mju_multiRayPrepare(const mjModel* m, const mjData* d,
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const mjtNum pnt[3], const mjtNum ray_xmat[9],
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const mjtByte* geomgroup, mjtByte flg_static,
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int bodyexclude, mjtNum cutoff, mjtNum* geom_ba,
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int* geom_eliminate);
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// intersect multiple rays emanating from a single source
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// similar semantics to mj_ray, but vec is an array of (nray x 3) directions.
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MJAPI void mj_multiRay(const mjModel* m, mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
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const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
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int* geomid, mjtNum* dist, int nray, mjtNum cutoff);
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// intersect ray (pnt+x*vec, x>=0) with visible geoms, except geoms on bodyexclude
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// return geomid and distance (x) to nearest surface, or -1 if no intersection
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// geomgroup, flg_static are as in mjvOption; geomgroup==NULL skips group exclusion
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MJAPI mjtNum mj_ray(const mjModel* m, const mjData* d, const mjtNum pnt[3], const mjtNum vec[3],
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const mjtByte* geomgroup, mjtByte flg_static, int bodyexclude,
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int geomid[1]);
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// intersect ray with hfield
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MJAPI mjtNum mj_rayHfield(const mjModel* m, const mjData* d, int geomid,
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const mjtNum pnt[3], const mjtNum vec[3]);
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// intersect ray with triangle
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MJAPI mjtNum ray_triangle(mjtNum v[][3], const mjtNum lpnt[3], const mjtNum lvec[3],
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const mjtNum b0[3], const mjtNum b1[3], mjtNum normal[3]);
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// intersect ray with mesh
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MJAPI mjtNum mj_rayMesh(const mjModel* m, const mjData* d, int geomid,
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const mjtNum pnt[3], const mjtNum vec[3]);
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// intersect ray with mesh, compute normal if given
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MJAPI mjtNum mj_rayMeshNormal(const mjModel* m, const mjData* d, int geomid,
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const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
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// intersect ray with signed distance field, compute normal if given
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MJAPI mjtNum mj_raySdfNormal(const mjModel* m, const mjData* d, int geomid,
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const mjtNum pnt[3], const mjtNum vec[3], mjtNum normal[3]);
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// intersect ray with primitive geom, no meshes or hfields
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MJAPI mjtNum mju_rayGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
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const mjtNum pnt[3], const mjtNum vec[3], int geomtype);
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// intersect ray with primitive geom, no meshes or hfields, compute normal if given
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MJAPI mjtNum mju_rayGeomNormal(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3],
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const mjtNum pnt[3], const mjtNum vec[3], int geomtype,
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mjtNum normal[3]);
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// intersect ray with flex, return nearest vertex id
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MJAPI mjtNum mju_rayFlex(const mjModel* m, const mjData* d, int flex_layer, mjtByte flg_vert,
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mjtByte flg_edge, mjtByte flg_face, mjtByte flg_skin, int flexid,
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const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
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// intersect ray with skin, return nearest vertex id
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MJAPI mjtNum mju_raySkin(int nface, int nvert, const int* face, const float* vert,
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const mjtNum pnt[3], const mjtNum vec[3], int vertid[1]);
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#ifdef __cplusplus
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}
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#endif
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#endif // MUJOCO_SRC_ENGINE_ENGINE_RAY_H_
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