RaycastSensorReading

Fully qualified name: isaacsim::sensors::experimental::physics::RaycastSensorReading

struct RaycastSensorReading

Raycast sensor reading with per-ray depths, hit positions, normals, and prim paths.

Arrays are owned by the C++ plugin and valid until the next physics step or sensor removal. The rayCount field indicates the length of each array.

Public Members

uint32_t rayCount = {0}

Number of rays (length of each per-ray array).

const float *depths = {nullptr}

Per-ray depth in stage length units (maxRange on miss).

const float *hitPositions = {nullptr}

Per-ray hit positions as flat [x,y,z, x,y,z, …] (3 * rayCount).

const float *hitNormals = {nullptr}

Per-ray surface normals as flat [x,y,z, …] (3 * rayCount).

const char *const *hitPrimPaths = {nullptr}

Per-ray hit prim USD paths (nullptr unless reportHitPrimPaths).

const float *rayOriginsWorld = {nullptr}

Per-ray world-space origins as flat [x,y,z, …] (3 * rayCount).

const float *rayEndPointsWorld = {nullptr}

Per-ray world-space endpoints as flat [x,y,z, …] (3 * rayCount).

float time = {0.0f}

Simulation time of this reading in seconds.

bool isValid = {false}

Whether this reading contains valid data.