Fix bugs in ray hfield implementation #967
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thowell
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Jan 3, 2026
erikfrey
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Jan 5, 2026
* Add ray with normal (#940) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Ray normal fixes (#960) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Small fixes * Ruff format * Simplify assert for vec3 * Add comment and adjust docstring * Fix bugs in ray hfield impl (#967)
erikfrey
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Jan 5, 2026
* Add ray with normal (#940) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Ray normal fixes (#960) * Add ray with normal * Ruff * Propagate ray normal changes * ruff * Fix tuple type check * Update ray to return -1 for non-hits * Small fixes * Ruff format * Simplify assert for vec3 * Add comment and adjust docstring * Fix bugs in ray hfield impl (#967) * clamp pair_friction with minmu (#969) * add --kernel_cache_dir pytest flag for warp kernel cache (#968) * fix _NCONMAX info (#965) * reuse xnorm (#959) * Expose rays through the public API. (#975) --------- Co-authored-by: Taylor Howell <taylorhowell@google.com> Co-authored-by: Kevin Zakka <kevinzakka@users.noreply.github.com>
This was referenced Jan 6, 2026
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Fixes the ray hfield implementation by fixing the small errors in comparison to the engine impl. The current impl now follows the engine implementation strictly.