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Add ray with normal #940

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Merged
thowell merged 6 commits into from
Jan 2, 2026
+195 −101
Merged

Add ray with normal #940

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7299911
Add ray with normal
StafaH Dec 21, 2025
ff4c354
Ruff
StafaH Dec 21, 2025
471cd08
Propagate ray normal changes
StafaH Dec 21, 2025
9f4b64d
ruff
StafaH Dec 21, 2025
86787c9
Fix tuple type check
StafaH Dec 21, 2025
1e67cd1
Update ray to return -1 for non-hits
StafaH Jan 1, 2026
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7 changes: 4 additions & 3 deletions mujoco_warp/_src/collision_sdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -367,7 +367,7 @@ def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: Volume
elif type == GeomType.MESH and mesh_data.valid:
mesh_data.pnt = p
mesh_data.vec = -wp.normalize(p)
dist = ray_mesh(
dist, normal = ray_mesh(
mesh_data.nmeshface,
mesh_data.mesh_vertadr,
mesh_data.mesh_faceadr,
Expand All @@ -380,7 +380,7 @@ def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: Volume
mesh_data.vec,
)
if dist > wp.norm_l2(p):
return -ray_mesh(
dist, normal = ray_mesh(
mesh_data.nmeshface,
mesh_data.mesh_vertadr,
mesh_data.mesh_faceadr,
Expand All @@ -392,6 +392,7 @@ def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: Volume
mesh_data.pnt,
-mesh_data.vec,
)
return -dist
return dist
elif type == GeomType.SDF:
if sdf_type == -1:
Expand All @@ -416,7 +417,7 @@ def sdf_grad(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: V
elif type == GeomType.MESH and mesh_data.valid:
mesh_data.pnt = p
mesh_data.vec = -wp.normalize(p)
dist = ray_mesh(
dist, normal = ray_mesh(
mesh_data.nmeshface,
mesh_data.mesh_vertadr,
mesh_data.mesh_faceadr,
Expand Down
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