add MultiRay and MultiRayIntersections components

Signed-off-by: Rômulo Cerqueira <[email protected]>

include/gz/sim/components/MultiRay.hh

@@ -0,0 +1,75 @@
+/*
+ * 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_MULTIRAY_HH_
+#define GZ_SIM_COMPONENTS_MULTIRAY_HH_
+
+#include <gz/math/Vector3.hh>
+#include <gz/sim/components/Factory.hh>
+#include <gz/sim/components/Component.hh>
+#include <gz/sim/config.hh>
+
+#include <vector>
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace components
+{
+/// \brief A struct that holds the information of a ray.
+struct RayInfo
+{
+  /// \brief Starting point of the ray in world coordinates
+  gz::math::Vector3d start;
+
+  /// \brief Ending point of the ray in world coordinates
+  gz::math::Vector3d end;
+};
+
+/// \brief A struct that holds the results of raycasting.
+struct RayIntersectionInfo
+{
+  /// \brief The hit point in the world coordinates
+  gz::math::Vector3d point;
+
+  /// \brief The fraction of the ray length at the intersection/hit point.
+  double fraction;
+
+  /// \brief The normal at the hit point in the world coordinates
+  gz::math::Vector3d normal;
+};
+
+/// \brief A component type that contains multiple rays from an entity.
+using MultiRay =
+  gz::sim::components::Component<std::vector<RayInfo>, class MultiRayTag>;
+
+GZ_SIM_REGISTER_COMPONENT("gz_sim_components.MultiRay", MultiRay)
+
+/// \brief A component type that contains the raycasting results from multiple
+// rays from an entity into a physics world.
+using MultiRayIntersections =
+  gz::sim::components::Component<std::vector<RayIntersectionInfo>, class MultiRayIntersectionsTag>;
+
+GZ_SIM_REGISTER_COMPONENT("gz_sim_components.MultiRayIntersections", MultiRayIntersections)
+}
+}
+}
+}
+#endif  // GZ_SIM_COMPONENTS_MULTIRAY_HH_