RaycastData.hh

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/*
 * Copyright (C) 2024 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_SIM_COMPONENTS_RAYCASTDATA_HH_
#define GZ_SIM_COMPONENTS_RAYCASTDATA_HH_
 
#include <gz/math/Vector3.hh>
#include <gz/sim/components/Factory.hh>
#include <gz/sim/components/Component.hh>
#include <gz/sim/components/Serialization.hh>
#include <gz/sim/config.hh>
 
#include <istream>
#include <ostream>
#include <vector>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace components
{
struct RayInfo
{
  gz::math::Vector3d start;
 
  gz::math::Vector3d end;
};
 
struct RaycastResultInfo
{
  gz::math::Vector3d point;
 
  double fraction;
 
  gz::math::Vector3d normal;
};
 
struct RaycastDataInfo
{
  std::vector<RayInfo> rays;
 
  std::vector<RaycastResultInfo> results;
};
}
 
namespace serializers
{
  template<> class DefaultSerializer<components::RaycastDataInfo>
  {
    public: static std::ostream &Serialize(
      std::ostream &_out, const components::RaycastDataInfo &)
    {
      return _out;
    }
 
    public: static std::istream &Deserialize(
      std::istream &_in, components::RaycastDataInfo &)
    {
      return _in;
    }
  };
}
 
namespace components
{
using RaycastData = Component<RaycastDataInfo, class RaycastDataTag,
                              serializers::DefaultSerializer<RaycastDataInfo>>;
 
GZ_SIM_REGISTER_COMPONENT("gz_sim_components.RaycastData", RaycastData)
 
using NeedsRaycast = Component<bool, class NeedsRaycastTag>;
 
GZ_SIM_REGISTER_COMPONENT("gz_sim_components.NeedsRaycast", NeedsRaycast)
}
}
}
}
#endif  // GZ_SIM_COMPONENTS_RAYCASTDATA_HH_