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Scene query filtering: address corner case

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This commit is contained in:
Sébastien Crozet
2022-07-04 11:17:28 +02:00
parent fb7bfaf53d
commit 06d540a10c
1 changed files with 12 additions and 51 deletions
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63
src/pipeline/query_pipeline.rs
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@@ -122,7 +122,8 @@ impl<'a> QueryFilter<'a> {
#[inline] #[inline]
pub fn test(&self, bodies: &RigidBodySet, handle: ColliderHandle, collider: &Collider) -> bool { pub fn test(&self, bodies: &RigidBodySet, handle: ColliderHandle, collider: &Collider) -> bool {
self.exclude_collider != Some(handle) self.exclude_collider != Some(handle)
&& self.exclude_rigid_body != collider.parent.map(|p| p.handle) && (self.exclude_rigid_body.is_none() // NOTE: deal with the `None` case separately otherwise the next test is incorrect if the collider’s parent is `None` too.
|| self.exclude_rigid_body != collider.parent.map(|p| p.handle))
&& self && self
.groups .groups
.map(|grps| collider.flags.collision_groups.test(grps)) .map(|grps| collider.flags.collision_groups.test(grps))
@@ -466,11 +467,7 @@ impl QueryPipeline {
/// * `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if /// * `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if
/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary /// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
/// even if its starts inside of it. /// even if its starts inside of it.
/// * `query_groups`: the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter`: a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn cast_ray( pub fn cast_ray(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -497,11 +494,7 @@ impl QueryPipeline {
/// * `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if /// * `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if
/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary /// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
/// even if its starts inside of it. /// even if its starts inside of it.
/// * `query_groups`: the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter`: a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn cast_ray_and_get_normal( pub fn cast_ray_and_get_normal(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -532,11 +525,7 @@ impl QueryPipeline {
/// * `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if /// * `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if
/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary /// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
/// even if its starts inside of it. /// even if its starts inside of it.
/// * `query_groups`: the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter`: a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
/// * `callback`: function executed on each collider for which a ray intersection has been found. /// * `callback`: function executed on each collider for which a ray intersection has been found.
/// There is no guarantees on the order the results will be yielded. If this callback returns `false`, /// There is no guarantees on the order the results will be yielded. If this callback returns `false`,
/// this method will exit early, ignore any further raycast. /// this method will exit early, ignore any further raycast.
@@ -575,11 +564,7 @@ impl QueryPipeline {
/// * `colliders` - The set of colliders taking part in this pipeline. /// * `colliders` - The set of colliders taking part in this pipeline.
/// * `shape_pos` - The position of the shape used for the intersection test. /// * `shape_pos` - The position of the shape used for the intersection test.
/// * `shape` - The shape used for the intersection test. /// * `shape` - The shape used for the intersection test.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn intersection_with_shape( pub fn intersection_with_shape(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -611,11 +596,7 @@ impl QueryPipeline {
/// itself). If it is set to `false` the collider shapes are considered to be hollow /// itself). If it is set to `false` the collider shapes are considered to be hollow
/// (if the point is located inside of an hollow shape, it is projected on the shape's /// (if the point is located inside of an hollow shape, it is projected on the shape's
/// boundary). /// boundary).
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn project_point( pub fn project_point(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -638,11 +619,7 @@ impl QueryPipeline {
/// # Parameters /// # Parameters
/// * `colliders` - The set of colliders taking part in this pipeline. /// * `colliders` - The set of colliders taking part in this pipeline.
/// * `point` - The point used for the containment test. /// * `point` - The point used for the containment test.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
/// * `callback` - A function called with each collider with a shape /// * `callback` - A function called with each collider with a shape
/// containing the `point`. /// containing the `point`.
pub fn intersections_with_point( pub fn intersections_with_point(
@@ -680,11 +657,7 @@ impl QueryPipeline {
/// itself). If it is set to `false` the collider shapes are considered to be hollow /// itself). If it is set to `false` the collider shapes are considered to be hollow
/// (if the point is located inside of an hollow shape, it is projected on the shape's /// (if the point is located inside of an hollow shape, it is projected on the shape's
/// boundary). /// boundary).
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn project_point_and_get_feature( pub fn project_point_and_get_feature(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -723,11 +696,7 @@ impl QueryPipeline {
/// * `shape` - The shape to cast. /// * `shape` - The shape to cast.
/// * `max_toi` - The maximum time-of-impact that can be reported by this cast. This effectively /// * `max_toi` - The maximum time-of-impact that can be reported by this cast. This effectively
/// limits the distance traveled by the shape to `shapeVel.norm() * maxToi`. /// limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn cast_shape<'a>( pub fn cast_shape<'a>(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -768,11 +737,7 @@ impl QueryPipeline {
/// would result in tunnelling. If it does not (i.e. we have a separating velocity along /// would result in tunnelling. If it does not (i.e. we have a separating velocity along
/// that normal) then the nonlinear shape-casting will attempt to find another impact, /// that normal) then the nonlinear shape-casting will attempt to find another impact,
/// at a time `> start_time` that could result in tunnelling. /// at a time `> start_time` that could result in tunnelling.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn nonlinear_cast_shape( pub fn nonlinear_cast_shape(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -806,11 +771,7 @@ impl QueryPipeline {
/// * `shapePos` - The position of the shape to test. /// * `shapePos` - The position of the shape to test.
/// * `shapeRot` - The orientation of the shape to test. /// * `shapeRot` - The orientation of the shape to test.
/// * `shape` - The shape to test. /// * `shape` - The shape to test.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group` /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
/// * `callback` - A function called with the handles of each collider intersecting the `shape`. /// * `callback` - A function called with the handles of each collider intersecting the `shape`.
pub fn intersections_with_shape<'a>( pub fn intersections_with_shape<'a>(
&self, &self,