.. _isaacsim_sensors_physics_IsaacReadRaycastSensor_1:

.. _isaacsim_sensors_physics_IsaacReadRaycastSensor:

.. ================================================================================
.. THIS PAGE IS AUTO-GENERATED. DO NOT MANUALLY EDIT.
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:orphan:

.. meta::
    :title: Isaac Read Physics Raycast Sensor Node
    :keywords: lang-en omnigraph node isaacPhysicsSensor physics isaac-read-raycast-sensor


Isaac Read Physics Raycast Sensor Node
======================================

.. <description>

Node that reads out physics raycast sensor depths, hit positions, hit normals, and optionally hit prim paths

.. </description>


Installation
------------

To use this node enable :ref:`isaacsim.sensors.physics.nodes<ext_isaacsim_sensors_physics_nodes>` in the Extension Manager.


Inputs
------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Exec In (*inputs:execIn*)", "``execution``", "The input execution port", "None"
    "Physics Raycast Sensor Prim (*inputs:raycastSensorPrim*)", "``target``", "USD prim reference to the IsaacRaycastSensor prim", "None"


Outputs
-------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Beam End Points (*outputs:beamEndPoints*)", "``pointf[3][]``", "Per-ray world-space hit endpoints (or max-range endpoints on miss) for debug draw", "[]"
    "Beam Origins (*outputs:beamOrigins*)", "``pointf[3][]``", "Per-ray world-space origins for debug draw visualization", "[]"
    "Depths (*outputs:depths*)", "``float[]``", "Per-ray depth in stage length units (maxRange on miss)", "None"
    "Exec Out (*outputs:execOut*)", "``execution``", "Output execution triggers when sensor has data", "None"
    "Hit Normals (*outputs:hitNormals*)", "``float[]``", "Per-ray surface normals as flat array [x,y,z, x,y,z, ...] (3*N floats, same frame)", "None"
    "Hit Positions (*outputs:hitPositions*)", "``float[]``", "Per-ray hit positions as flat array [x,y,z, x,y,z, ...] (3*N floats, frame per outputFrameOfReference)", "None"
    "Hit Prim Paths (*outputs:hitPrimPaths*)", "``token[]``", "Per-ray hit prim USD paths (empty strings unless reportHitPrimPaths is true)", "None"
    "Num Rays (*outputs:numRays*)", "``uint``", "Number of rays in the sensor", "0"
    "Sensor Time (*outputs:sensorTime*)", "``float``", "Sensor reading timestamp", "0.0"


Metadata
--------
.. csv-table::
    :header: "Name", "Value"
    :widths: 30,70

    "Unique ID", "isaacsim.sensors.physics.IsaacReadRaycastSensor"
    "Version", "1"
    "Extension", "isaacsim.sensors.physics.nodes"
    "Icon", "ogn/icons/isaacsim.sensors.physics.IsaacReadRaycastSensor.svg"
    "Has State?", "False"
    "Implementation Language", "C++"
    "Default Memory Type", "cpu"
    "Generated Code Exclusions", "None"
    "uiName", "Isaac Read Physics Raycast Sensor Node"
    "Categories", "isaacPhysicsSensor"
    "Generated Class Name", "OgnIsaacReadRaycastSensorDatabase"
    "Python Module", "isaacsim.sensors.physics.nodes"

