Add ray with normal #940
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Add ray with normal #940
+195
−101
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thanks @StafaH! |
erikfrey
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Dec 27, 2025
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Looking good! Just a few drive-by christmas nits.
mujoco_warp/_src/ray.py
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| x = all[i] | ||
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| return x | ||
| normal_local = wp.vec3(0.0, 0.0, 0.0) |
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how about:
normal_local = wp.vec3(float(i == 1) - float(i == 0), float(i == 3) - float(i == 2), 0.0)
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That is a very nifty one-liner! Beautiful. Replaced.
mujoco_warp/_src/ray.py
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| or (planar_01 < 0.0 and planar_11 < 0.0 and planar_21 < 0.0) | ||
| ): | ||
| return float(wp.inf) | ||
| return float(wp.inf), wp.vec3(0.0, 0.0, 0.0) |
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nit: wp.vec3() already inits to zeros
(comment applies here and elsewhere)
thowell
reviewed
Dec 28, 2025
mujoco_warp/_src/ray.py
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| def _ray_triangle( | ||
| v0: wp.vec3, v1: wp.vec3, v2: wp.vec3, pnt: wp.vec3, vec: wp.vec3, b0: wp.vec3, b1: wp.vec3 | ||
| ) -> Tuple[float, wp.vec3]: | ||
| """Returns the distance at which a ray intersects with a triangle.""" |
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let's update the docstring to mention that the normal (?) is also returned
thowell
reviewed
Dec 28, 2025
mujoco_warp/_src/ray.py
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| @wp.func | ||
| def _ray_plane(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.vec3) -> float: | ||
| def _ray_plane(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, pnt: wp.vec3, vec: wp.vec3) -> Tuple[float, wp.vec3]: | ||
| """Returns the distance at which a ray intersects with a plane.""" |
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let's update the docstring to mention that the normal is returned
thowell
reviewed
Dec 28, 2025
mujoco_warp/_src/ray.py
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| @wp.func | ||
| def _ray_sphere(pos: wp.vec3, dist_sqr: float, pnt: wp.vec3, vec: wp.vec3) -> float: | ||
| def _ray_sphere(pos: wp.vec3, dist_sqr: float, pnt: wp.vec3, vec: wp.vec3) -> Tuple[float, wp.vec3]: | ||
| """Returns the distance at which a ray intersects with a sphere.""" |
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thowell
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Jan 2, 2026
| normal_np = normal.numpy()[0, 0] | ||
| _assert_eq(geomid_np, -1, "geom_id") | ||
| _assert_eq(dist_np, -1, "dist") | ||
| _assert_eq(normal_np, wp.vec3(0.0, 0.0, 0.0), "normal") |
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Modify ray functions to return normal information as well.
Follows the C MuJoCo implementation: https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_ray.c
Currently waiting on the C MuJoCo mju_rayNormal to become enabled, which will allow ray_test to compare normals with the engine implementation.