// Copyright (c) 2022 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api;

option java_outer_classname = "RayCastProto";

import "bosdyn/api/header.proto";
import "bosdyn/api/geometry.proto";

message RaycastRequest {
    // Common request header.
    RequestHeader header = 1;

    // The ray's coordinate frame. When unset, this will default to vision frame.
    string ray_frame_name = 5;

    // The ray, containing and origin and an direction.
    Ray ray = 2;

    // Ignore intersections closer than this location on the ray.
    // Defaults to 0 if not provided.
    float min_intersection_distance = 4;

    // Type of the raycast you want to perform.  If multiple are set, the result will wait until
    // all raycasts are complete and return a single result proto.
    //
    // If this field is left empty, all available sources are used.
    repeated RayIntersection.Type intersection_types = 7;

}

message RayIntersection {
    enum Type {
        // TYPE_UNKNOWN should not be used.
        TYPE_UNKNOWN = 0;

        // Intersected against estimated ground plane.
        TYPE_GROUND_PLANE = 1;

        // Intersected against the terrain map.
        TYPE_TERRAIN_MAP = 2;

        // Intersected against the full 3D voxel map.
        TYPE_VOXEL_MAP = 3;

        // Intersected against the hand depth data.
        TYPE_HAND_DEPTH = 4;
    }
    // Type of the raycast intersection that was performed.
    Type type = 1;

    // Position of ray cast hit in the RaycastResponse hit_frame.
    Vec3 hit_position_in_hit_frame = 2;

    // Distance of hit from ray origin.
    double distance_meters = 3;
}

message RaycastResponse {
    // Common response header.
    ResponseHeader header = 1;

    enum Status {
        // An unknown / unexpected error occurred.
        STATUS_UNKNOWN = 0;

        // Request was accepted.
        STATUS_OK = 1;

        // [Programming Error] Request was invalid / malformed in some way.
        STATUS_INVALID_REQUEST = 2;

        // [Programming Error] Requested source not valid for current robot configuration.
        STATUS_INVALID_INTERSECTION_TYPE = 3;

        // [Frame Error] The frame_name for a command was not a known frame.
        STATUS_UNKNOWN_FRAME = 4;
    }
    // Return status for a request.
    Status status = 5;

    // Human-readable error description.  Not for programmatic analysis.
    string message = 6;

    // The frame raycast hits are returned in. Generally this should be the same frame the client
    // initially requested in.
    string hit_frame_name = 3;

    // Ray cast hits, sorted with the closest hit first along the ray's extent.
    repeated RayIntersection hits = 2;

    // A tree-based collection of transformations, which will include the
    // transformations to each of the returned world objects in addition to
    // transformations to the common frames ("vision", "body", "odom").  All
    // transforms within the snapshot are taken at the time when the request is received.
    //
    // Note that each object's frame names are defined within the properties
    // submessage e.g. "frame_name".
    FrameTreeSnapshot transforms_snapshot = 4;
}