Physics: Ray intersections

[romulogcerqueira]

🎉 New feature

Related to gazebosim/gz-sensors#26 and gazebosim/gz-physics#641

Summary

This PR introduces components to hold rays and ray intersections data (MultiRay and MultiRayIntersections, respectively), and updates the physics system to compute the ray castings during Update loop.

Test it

Added a test case to physics system.

Build and run ./build/bin/INTEGRATION_physics_system --gtest_filter=PhysicsSystemFixture.RayIntersections

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[azeey]

Thanks for the PR! However, as stated in https://community.gazebosim.org/t/feature-freeze-for-gazebo-ionic/2900/2, we are now in feature freeze and will not review/merge any new PRs until after Ionic is released at the end of September. I hope you'll be able to iterate on the PR then.

[romulogcerqueira]

Thanks for the PR! However, as stated in https://community.gazebosim.org/t/feature-freeze-for-gazebo-ionic/2900/2, we are now in feature freeze and will not review/merge any new PRs until after Ionic is released at the end of September. I hope you'll be able to iterate on the PR then.

Thanks for the message, @azeey .

One question: Will all new features be redirected to Ionic, or will we maintain backward compatibility with Harmonic, since the latter is LTS?

[azeey]

One question: Will all new features be redirected to Ionic, or will we maintain backward compatibility with Harmonic, since the latter is LTS?

Once Ionic is released, we'll ask folks to target PRs to Ionic branches and the core team will backport to older release on a best-effort basis. Of course, you are welcome to backport it yourself. See https://community.gazebosim.org/t/gazebo-policy-update-new-backporting-policy/2880 for more details.

[huqin-RM]

I want this function because I want to realize the livox 360 radar simulation. This radar is spiral scanning, and gpu_ray cannot realize this. So when will this function be implemented? @azeey @romulogcerqueira

e1161b76-f3eb-4491-bd6c-2a62b4d7aa21.2._an.1.mp4

[ntfshard]

It also can be useful for our use-cases I suppose. I guess this branch should be re-targeted on a last branch

[huqin-RM]

@romulogcerqueira Will this feature be pushed forward to the official version?