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First round deleting the component sets.

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This commit is contained in:
Sébastien Crozet
2022-04-19 18:57:40 +02:00
committed by Sébastien Crozet
parent ee679427cd
commit 2b1374c596
36 changed files with 722 additions and 1649 deletions
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229
src/pipeline/query_pipeline.rs
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@@ -1,4 +1,3 @@
use crate::data::{BundleSet, ComponentSet, ComponentSetOption};
use crate::dynamics::{
IslandManager, RigidBodyColliders, RigidBodyForces, RigidBodyMassProps, RigidBodyPosition,
RigidBodyVelocity,
@@ -40,9 +39,9 @@ pub struct QueryPipeline {
dilation_factor: Real,
}
struct QueryPipelineAsCompositeShape<'a, Colliders> {
struct QueryPipelineAsCompositeShape<'a> {
query_pipeline: &'a QueryPipeline,
colliders: &'a Colliders,
colliders: &'a ColliderSet,
query_groups: InteractionGroups,
filter: Option<&'a dyn Fn(ColliderHandle) -> bool>,
}
@@ -63,12 +62,7 @@ pub enum QueryPipelineMode {
},
}
impl<'a, Colliders> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a, Colliders>
where
// TODO ECS: make everything optional but the shape?
Colliders:
ComponentSet<ColliderFlags> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape>,
{
impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
type PartShape = dyn Shape;
type PartId = ColliderHandle;
@@ -77,15 +71,11 @@ where
shape_id: Self::PartId,
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
) {
let co_flags: Option<&ColliderFlags> = self.colliders.get(shape_id.0);
if let Some(co_flags) = co_flags {
if co_flags.collision_groups.test(self.query_groups)
if let Some(co) = self.colliders.get(shape_id) {
if co.flags.collision_groups.test(self.query_groups)
&& self.filter.map(|f| f(shape_id)).unwrap_or(true)
{
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
self.colliders.index_bundle(shape_id.0);
f(Some(co_pos), &**co_shape)
f(Some(co.pos), &**co.shape)
}
}
}
@@ -115,12 +105,12 @@ impl QueryPipeline {
Self::with_query_dispatcher(DefaultQueryDispatcher)
}
fn as_composite_shape<'a, Colliders>(
fn as_composite_shape<'a>(
&'a self,
colliders: &'a Colliders,
colliders: &'a ColliderSet,
query_groups: InteractionGroups,
filter: Option<&'a dyn Fn(ColliderHandle) -> bool>,
) -> QueryPipelineAsCompositeShape<'a, Colliders> {
) -> QueryPipelineAsCompositeShape<'a> {
QueryPipelineAsCompositeShape {
query_pipeline: self,
colliders,
@@ -162,21 +152,12 @@ impl QueryPipeline {
}
/// Update the acceleration structure on the query pipeline.
pub fn update_generic<Bodies, Colliders>(
pub fn update_generic(
&mut self,
islands: &IslandManager,
bodies: &Bodies,
colliders: &Colliders,
) where
Bodies: ComponentSet<RigidBodyPosition>
+ ComponentSet<RigidBodyColliders>
+ ComponentSet<RigidBodyVelocity>
+ ComponentSet<RigidBodyMassProps>
+ ComponentSet<RigidBodyForces>,
Colliders: ComponentSet<ColliderShape>
+ ComponentSet<ColliderPosition>
+ ComponentSetOption<ColliderParent>,
{
bodies: &RigidBodySet,
colliders: &ColliderSet,
) {
self.update_with_mode(
islands,
bodies,
@@ -186,40 +167,22 @@ impl QueryPipeline {
}
/// Update the acceleration structure on the query pipeline.
pub fn update_with_mode<Bodies, Colliders>(
pub fn update_with_mode(
&mut self,
islands: &IslandManager,
bodies: &Bodies,
colliders: &Colliders,
bodies: &RigidBodySet,
colliders: &ColliderSet,
mode: QueryPipelineMode,
) where
Bodies: ComponentSet<RigidBodyPosition>
+ ComponentSet<RigidBodyColliders>
+ ComponentSet<RigidBodyVelocity>
+ ComponentSet<RigidBodyMassProps>
+ ComponentSet<RigidBodyForces>,
Colliders: ComponentSet<ColliderShape>
+ ComponentSet<ColliderPosition>
+ ComponentSetOption<ColliderParent>,
{
struct DataGenerator<'a, Bs, Cs> {
bodies: &'a Bs,
colliders: &'a Cs,
) {
struct DataGenerator<'a> {
bodies: &'a RigidBodySet,
colliders: &'a ColliderSet,
mode: QueryPipelineMode,
}
impl<'a, Bs, Cs> QBVHDataGenerator<ColliderHandle> for DataGenerator<'a, Bs, Cs>
where
Bs: ComponentSet<RigidBodyPosition>
+ ComponentSet<RigidBodyMassProps>
+ ComponentSet<RigidBodyVelocity>
+ ComponentSet<RigidBodyForces>,
Cs: ComponentSet<ColliderShape>
+ ComponentSet<ColliderPosition>
+ ComponentSetOption<ColliderParent>,
{
impl<'a> QBVHDataGenerator<ColliderHandle> for DataGenerator<'a> {
fn size_hint(&self) -> usize {
ComponentSet::<ColliderShape>::size_hint(self.colliders)
self.colliders.len()
}
#[inline(always)]
@@ -313,16 +276,13 @@ impl QueryPipeline {
QueryPipelineMode::SweepTestWithNextPosition => {
self.qbvh.update(
|handle| {
let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
colliders.index_bundle(handle.0);
if let Some(co_parent) = co_parent {
let rb_pos: &RigidBodyPosition = bodies.index(co_parent.handle.0);
let next_position = rb_pos.next_position * co_parent.pos_wrt_parent;
co_shape.compute_swept_aabb(&co_pos, &next_position)
let co = &colliders[handle];
if let Some(parent) = co.parent {
let rb_pos: &RigidBodyPosition = bodies.index(co.parent.handle.0);
let next_position = rb_pos.next_position * co.parent.pos_wrt_parent;
co.shape.compute_swept_aabb(&co.pos, &next_position)
} else {
co_shape.compute_aabb(&co_pos)
co.shape.compute_aabb(&co.pos)
}
},
self.dilation_factor,
@@ -331,25 +291,17 @@ impl QueryPipeline {
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
self.qbvh.update(
|handle| {
let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
colliders.index_bundle(handle.0);
let co = &colliders[handle];
if let Some(parent) = co.parent {
let rb = &bodies[parent.handle];
let predicted_pos = rb
.pos
.integrate_forces_and_velocities(dt, rb.forces, rb.vels, rb.mprops);
if let Some(co_parent) = co_parent {
let (rb_pos, vels, forces, mprops): (
&RigidBodyPosition,
&RigidBodyVelocity,
&RigidBodyForces,
&RigidBodyMassProps,
) = bodies.index_bundle(co_parent.handle.0);
let predicted_pos =
rb_pos.integrate_forces_and_velocities(dt, forces, vels, mprops);
let next_position = predicted_pos * co_parent.pos_wrt_parent;
co_shape.compute_swept_aabb(&co_pos, &next_position)
let next_position = predicted_pos * parent.pos_wrt_parent;
co.shape.compute_swept_aabb(&co.pos, &next_position)
} else {
co_shape.compute_aabb(&co_pos)
co.shape.compute_aabb(&co.pos)
}
},
self.dilation_factor,
@@ -373,20 +325,15 @@ impl QueryPipeline {
/// * `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<Colliders>(
pub fn cast_ray(
&self,
colliders: &Colliders,
colliders: &ColliderSet,
ray: &Ray,
max_toi: Real,
solid: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, Real)>
where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) -> Option<(ColliderHandle, Real)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor =
RayCompositeShapeToiBestFirstVisitor::new(&pipeline_shape, ray, max_toi, solid);
@@ -409,20 +356,15 @@ impl QueryPipeline {
/// * `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<Colliders>(
pub fn cast_ray_and_get_normal(
&self,
colliders: &Colliders,
colliders: &ColliderSet,
ray: &Ray,
max_toi: Real,
solid: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, RayIntersection)>
where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) -> Option<(ColliderHandle, RayIntersection)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = RayCompositeShapeToiAndNormalBestFirstVisitor::new(
&pipeline_shape,
@@ -452,20 +394,16 @@ impl QueryPipeline {
/// * `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`,
/// this method will exit early, ignore any further raycast.
pub fn intersections_with_ray<'a, Colliders>(
pub fn intersections_with_ray<'a, ColliderSet>(
&self,
colliders: &'a Colliders,
colliders: &'a ColliderSet,
ray: &Ray,
max_toi: Real,
solid: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
mut callback: impl FnMut(ColliderHandle, RayIntersection) -> bool,
) where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) {
let mut leaf_callback = &mut |handle: &ColliderHandle| {
let co_shape: Option<&ColliderShape> = colliders.get(handle.0);
if let Some(co_shape) = co_shape {
@@ -499,19 +437,14 @@ impl QueryPipeline {
/// * `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<Colliders>(
pub fn intersection_with_shape(
&self,
colliders: &Colliders,
colliders: &ColliderSet,
shape_pos: &Isometry<Real>,
shape: &dyn Shape,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<ColliderHandle>
where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) -> Option<ColliderHandle> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = IntersectionCompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher,
@@ -540,19 +473,14 @@ impl QueryPipeline {
/// * `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<Colliders>(
pub fn project_point(
&self,
colliders: &Colliders,
colliders: &ColliderSet,
point: &Point<Real>,
solid: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, PointProjection)>
where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) -> Option<(ColliderHandle, PointProjection)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor =
PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid);
@@ -574,18 +502,14 @@ impl QueryPipeline {
/// is either `None` or returns `true`.
/// * `callback` - A function called with each collider with a shape
/// containing the `point`.
pub fn intersections_with_point<'a, Colliders>(
pub fn intersections_with_point<'a, ColliderSet>(
&self,
colliders: &'a Colliders,
colliders: &'a ColliderSet,
point: &Point<Real>,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
mut callback: impl FnMut(ColliderHandle) -> bool,
) where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) {
let mut leaf_callback = &mut |handle: &ColliderHandle| {
let co_shape: Option<&ColliderShape> = colliders.get(handle.0);
@@ -626,18 +550,13 @@ impl QueryPipeline {
/// * `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<Colliders>(
pub fn project_point_and_get_feature(
&self,
colliders: &Colliders,
colliders: &ColliderSet,
point: &Point<Real>,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, PointProjection, FeatureId)>
where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) -> Option<(ColliderHandle, PointProjection, FeatureId)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor =
PointCompositeShapeProjWithFeatureBestFirstVisitor::new(&pipeline_shape, point, false);
@@ -674,21 +593,16 @@ impl QueryPipeline {
/// * `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, Colliders>(
pub fn cast_shape<'a>(
&self,
colliders: &'a Colliders,
colliders: &'a ColliderSet,
shape_pos: &Isometry<Real>,
shape_vel: &Vector<Real>,
shape: &dyn Shape,
max_toi: Real,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, TOI)>
where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) -> Option<(ColliderHandle, TOI)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = TOICompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher,
@@ -724,9 +638,9 @@ impl QueryPipeline {
/// * `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<Colliders>(
pub fn nonlinear_cast_shape(
&self,
colliders: &Colliders,
colliders: &ColliderSet,
shape_motion: &NonlinearRigidMotion,
shape: &dyn Shape,
start_time: Real,
@@ -734,12 +648,7 @@ impl QueryPipeline {
stop_at_penetration: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
) -> Option<(ColliderHandle, TOI)>
where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) -> Option<(ColliderHandle, TOI)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let pipeline_motion = NonlinearRigidMotion::identity();
let mut visitor = NonlinearTOICompositeShapeShapeBestFirstVisitor::new(
@@ -768,19 +677,15 @@ impl QueryPipeline {
/// 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`.
pub fn intersections_with_shape<'a, Colliders>(
pub fn intersections_with_shape<'a, ColliderSet>(
&self,
colliders: &'a Colliders,
colliders: &'a ColliderSet,
shape_pos: &Isometry<Real>,
shape: &dyn Shape,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle) -> bool>,
mut callback: impl FnMut(ColliderHandle) -> bool,
) where
Colliders: ComponentSet<ColliderFlags>
+ ComponentSet<ColliderPosition>
+ ComponentSet<ColliderShape>,
{
) {
let dispatcher = &*self.query_dispatcher;
let inv_shape_pos = shape_pos.inverse();