GetRayIntersection.hh

/*
 * 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_PHYSICS_DETAIL_GETRAYINTERSECTION_HH_
#define GZ_PHYSICS_DETAIL_GETRAYINTERSECTION_HH_

#include <utility>
#include <gz/physics/GetRayIntersection.hh>

namespace gz
{
namespace physics
{
/////////////////////////////////////////////////
template <typename PolicyT, typename FeaturesT>
auto GetRayIntersectionFromLastStepFeature::World<
    PolicyT, FeaturesT>::GetRayIntersectionFromLastStep(
      const VectorType &_from,
      const VectorType &_to) const -> RayIntersectionData
{
  auto result =
    this->template Interface<GetRayIntersectionFromLastStepFeature>()
        ->GetRayIntersectionFromLastStep(this->identity, _from, _to);

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

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

  auto *extraData = result.extraData.template Query<ExtraRayIntersectionData>();
  if(extraData)
  {
    output.template Get<ExtraRayIntersectionData>() = std::move(*extraData);
  }
  return output;
}

}  // namespace physics
}  // namespace gz

#endif