Breaking change: Add surface normal output to MuJoCo raycast functions.

PiperOrigin-RevId: 855781592
Change-Id: Ia6967bcada58b285442c87470e61124625a8a115

Author: yuvaltassa

mjpc/tasks/manipulation/common.cc

@@ -44,7 +44,8 @@ GraspState GetGraspState(const mjModel* m, const mjData* d,
   geomgroup[kGroupCollisionScene] = 1;
   int ray_geom_id;
   double ray_distance =
-      mj_ray(m, d, right_finger, direction, geomgroup, 0, -1, &ray_geom_id);
+      mj_ray(m, d, right_finger, direction, geomgroup, 0, -1, &ray_geom_id,
+             nullptr);
 
   if (ray_distance == -1 || ray_distance > finger_distance) {
     // nothing in the gripper
@@ -60,7 +61,8 @@ GraspState GetGraspState(const mjModel* m, const mjData* d,
   // to see if it's the only object
   mju_scl3(direction, direction, -1);
   double ray_distance2 =
-      mj_ray(m, d, left_finger, direction, geomgroup, 0, -1, &ray_geom_id);
+      mj_ray(m, d, left_finger, direction, geomgroup, 0, -1, &ray_geom_id,
+             nullptr);
   ray_body_id = m->body_weldid[m->geom_bodyid[ray_geom_id]];
   if (ray_body_id != body_id) {
     // there's another object in the gripper
@@ -186,7 +188,7 @@ double BlockedCost(const mjModel* model, const mjData* data,
 
   int ray_geom_id;
   double ray_distance = mj_ray(model, data, pos, direction, geomgroup, 0,
-                               exclude_body_id, &ray_geom_id);
+                               exclude_body_id, &ray_geom_id, nullptr);
   // if there is something between the hand and the object, return 1.
   return ray_distance > -1 && ray_distance < distance;
 }

mjpc/utilities.cc

@@ -564,7 +564,7 @@ mjtNum Ground(const mjModel* model, const mjData* data, const mjtNum pos[3],
   const mjtByte default_geomgroup[6] = {1, 0, 0, 0, 0, 0};
   const mjtByte* query_geomgroup = geomgroup ? geomgroup : default_geomgroup;
   mjtNum dist = mj_ray(model, data, query, down, query_geomgroup, flg_static,
-                       bodyexclude, &geomid);
+                       bodyexclude, &geomid, nullptr);
 
   if (dist < 0) {  // SHOULD NOT OCCUR
     mju_error("no group 0 geom detected by raycast");