From 8800ba6a09a61d3f1dcc878f1be80ed35263dfc2 Mon Sep 17 00:00:00 2001 From: SODA-d Date: Sun, 14 Jun 2026 15:24:40 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=20mj=5FmultiRay=20=E5=8F=82?= =?UTF-8?q?=E6=95=B0=20normal?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Python/Chapter7-ray/ray.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Python/Chapter7-ray/ray.py b/Python/Chapter7-ray/ray.py index e37ce06..e01e7e9 100644 --- a/Python/Chapter7-ray/ray.py +++ b/Python/Chapter7-ray/ray.py @@ -57,11 +57,12 @@ for j in range(3): num_vec[i*3+j] = boxs_pos[i][j] - cam_pos[0][j] geomid = np.zeros((box_num,1), dtype=np.int32) + normal = np.zeros((box_num*3,1), dtype=np.float64) geomgroup = np.ones((6, 1)) dist = np.zeros((box_num,1)) dist_ratio = np.zeros((box_num,1)) pnt = cam_pos.reshape(3, 1) - mujoco.mj_multiRay(m,d,pnt,num_vec,geomgroup,1,-1,geomid,dist_ratio,box_num,999) + mujoco.mj_multiRay(m,d,pnt,num_vec,geomgroup,1,-1,geomid,dist_ratio,normal,box_num,999) for i in range(box_num): if geomid[i] == -1: dist[i] = -1.0