RaycastData.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 
18 #ifndef GZ_SIM_COMPONENTS_RAYCASTDATA_HH_
19 #define GZ_SIM_COMPONENTS_RAYCASTDATA_HH_
20 
21 #include <gz/math/Vector3.hh>
22 #include <gz/sim/components/Factory.hh>
23 #include <gz/sim/components/Component.hh>
24 #include <gz/sim/components/Serialization.hh>
25 #include <gz/sim/config.hh>
26 
27 #include <istream>
28 #include <ostream>
29 #include <vector>
30 
31 namespace gz
32 {
33 namespace sim
34 {
35 // Inline bracket to help doxygen filtering.
36 inline namespace GZ_SIM_VERSION_NAMESPACE {
37 namespace components
38 {
40 struct RayInfo
41 {
43  gz::math::Vector3d start;
44 
46  gz::math::Vector3d end;
47 };
48 
50 struct RaycastResultInfo
51 {
53  gz::math::Vector3d point;
54 
56  double fraction;
57 
59  gz::math::Vector3d normal;
60 };
61 
63 struct RaycastDataInfo
64 {
66  std::vector<RayInfo> rays;
67 
69  std::vector<RaycastResultInfo> results;
70 };
71 }
72 
73 namespace serializers
74 {
76  template<> class DefaultSerializer<components::RaycastDataInfo>
77  {
78  public: static std::ostream &Serialize(
79  std::ostream &_out, const components::RaycastDataInfo &)
80  {
81  return _out;
82  }
83 
84  public: static std::istream &Deserialize(
85  std::istream &_in, components::RaycastDataInfo &)
86  {
87  return _in;
88  }
89  };
90 }
91 
92 namespace components
93 {
100 using RaycastData = Component<RaycastDataInfo, class RaycastDataTag,
101  serializers::DefaultSerializer<RaycastDataInfo>>;
102 
103 GZ_SIM_REGISTER_COMPONENT("gz_sim_components.RaycastData", RaycastData)
104 }
105 }
106 }
107 }
108 #endif // GZ_SIM_COMPONENTS_RAYCASTDATA_HH_