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Add collisionShapeId to RayIntersectionT for raycast hit entity ident… #879

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Merged
azeey merged 9 commits into from
Mar 26, 2026
Merged

Add collisionShapeId to RayIntersectionT for raycast hit entity ident… #879

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81ec48a
Add collisionShapeId to RayIntersectionT for raycast hit entity ident…
khalidbourr Feb 17, 2026
b582816
Use CompositeData/ExpectData pattern for raycast hit entity identific…
khalidbourr Feb 24, 2026
5d0e93f
Fix linter errors
azeey Mar 12, 2026
8b5dcf7
Merge branch 'main' into feature/raycast-entity
azeey Mar 12, 2026
055ceb6
Add ExtraRayIntersectionData tests for collision shape ID
khalidbourr Mar 20, 2026
88c6434
Merge remote-tracking branch 'origin/main' into feature/raycast-entity
azeey Mar 25, 2026
91dffd3
Fix formatting
azeey Mar 25, 2026
ab5d316
Use INVALID_ENTITY_ID and check nullptr for miss/unsupported
khalidbourr Mar 26, 2026
83b924c
Merge branch 'main' into feature/raycast-entity
azeey Mar 26, 2026
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13 changes: 12 additions & 1 deletion dartsim/src/SimulationFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -224,7 +224,18 @@ SimulationFeatures::GetRayIntersectionFromLastStep(
intersection.point = firstHit.mPoint;
intersection.normal = firstHit.mNormal;
intersection.fraction = firstHit.mFraction;
}

// Map DART CollisionObject to gz-physics shape identity
if (firstHit.mCollisionObject)
{
auto *dtShapeFrame = firstHit.mCollisionObject->getShapeFrame();
if (dtShapeFrame && this->shapes.HasEntity(dtShapeFrame->asShapeNode()))
{
intersection.collisionShapeId =
this->shapes.IdentityOf(dtShapeFrame->asShapeNode());
}
}
}
else
{
// Set invalid measurements to NaN according to REP-117
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4 changes: 4 additions & 0 deletions include/gz/physics/GetRayIntersection.hh
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Expand Up @@ -47,6 +47,10 @@ class GZ_PHYSICS_VISIBLE GetRayIntersectionFromLastStepFeature

/// \brief The normal at the hit point in the world coordinates
VectorType normal;

/// \brief The identity of the collision shape that was hit.
/// Set to 0 if no shape was hit or not supported by the physics engine.
std::size_t collisionShapeId{0};
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@azeey azeey Feb 19, 2026

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This would break ABI and would not be backward portable. Alternatively, we can add an optional data to RayIntersection similar to how force, normal, and depth are added to contact data in

gz-physics/include/gz/physics/GetContacts.hh

Lines 71 to 73 in a1e7ae5

public: using Contact = SpecifyData<
RequireData<ContactPoint>,
ExpectData<ExtraContactData> >;

and

gz-physics/dartsim/src/SimulationFeatures.cc

Lines 278 to 283 in a1e7ae5

// Add normal, depth and wrench to extraData.
auto& extraContactData =
extraData.Get<SimulationFeatures::ExtraContactData>();
extraContactData.force = _contact.force;
extraContactData.normal = _contact.normal;
extraContactData.depth = _contact.penetrationDepth;

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@khalidbourr khalidbourr Feb 22, 2026

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I got it, I will do that asap

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@khalidbourr khalidbourr Feb 24, 2026

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I’ve refactored the code to follow the same CompositeData / ExpectData pattern used in GetContacts.
collisionShapeId is now passed as optional extra data through ExtraRayIntersectionDataT, so RayIntersectionT stays unchanged.

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@khalidbourr khalidbourr Mar 11, 2026

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@azeey Just a gentle ping, in case further modifications are needed, I'm available. Happy to iterate whenever you get the chance to review.

};

public: template <typename PolicyT, typename FeaturesT>
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3 changes: 2 additions & 1 deletion include/gz/physics/detail/GetRayIntersection.hh
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Expand Up @@ -36,7 +36,8 @@ auto GetRayIntersectionFromLastStepFeature::World<
this->template Interface<GetRayIntersectionFromLastStepFeature>()
->GetRayIntersectionFromLastStep(this->identity, _from, _to);

RayIntersection intersection{result.point, result.fraction, result.normal};
RayIntersection intersection{
result.point, result.fraction, result.normal, result.collisionShapeId};

RayIntersectionData output;
output.template Get<RayIntersection>() = std::move(intersection);
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