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Start implementing ray-casting.

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This adds a QueryPipeline structure responsible for scene queries.
Currently this structure is able to perform a brute-force ray-cast.
This commit also includes the beginning of implementation of a SIMD-based acceleration structure which will be used for these scene queries in the future.
This commit is contained in:
Sébastien Crozet
2020-09-08 21:18:17 +02:00
committed by Crozet Sébastien
parent 99f28ba4b4
commit 3c85a6ac41
10 changed files with 528 additions and 42 deletions
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1
CHANGELOG
View File

@@ -5,6 +5,7 @@
- Add `ColliderDesc::rotation(...)` to set the rotation of a collider relative to the rigid-body it is attached to.
- Add `ColliderDesc::position(...)` to set the position of a collider relative to the rigid-body it is attached to.
- Add `Collider::position_wrt_parent()` to get the position of a collider relative to the rigid-body it is attached to.
- Modify `RigidBody::set_position(...)` so it also resets the next kinematic position to the same value.
- Deprecate `Collider::delta()` in favor of the new `Collider::position_wrt_parent()`.
- Fix multiple issues occurring when having colliders resulting in a non-zero center-of-mass.
- Fix a crash happening when removing a rigid-body with a collider, stepping the simulation, adding another rigid-body

18
src/dynamics/rigid_body.rs
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@@ -137,6 +137,15 @@ impl RigidBody {
crate::utils::inv(self.mass_properties.inv_mass)
}
/// The predicted position of this rigid-body.
///
/// If this rigid-body is kinematic this value is set by the `set_next_kinematic_position`
/// method and is used for estimating the kinematic body velocity at the next timestep.
/// For non-kinematic bodies, this value is currently unspecified.
pub fn predicted_position(&self) -> &Isometry<f32> {
&self.predicted_position
}
/// Adds a collider to this rigid-body.
pub(crate) fn add_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) {
let mass_properties = coll
@@ -201,12 +210,17 @@ impl RigidBody {
self.position = self.integrate_velocity(dt) * self.position;
}
/// Sets the position of this rigid body.
/// Sets the position and `next_kinematic_position` of this rigid body.
///
/// This will teleport the rigid-body to the specified position/orientation,
/// completely ignoring any physics rule. If this body is kinematic, this will
/// also set the next kinematic position to the same value, effectively
/// resetting to zero the next interpolated velocity of the kinematic body.
pub fn set_position(&mut self, pos: Isometry<f32>) {
self.position = pos;
// TODO: update the predicted position for dynamic bodies too?
if self.is_static() {
if self.is_static() || self.is_kinematic() {
self.predicted_position = pos;
}
}

49
src/geometry/collider.rs
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@@ -1,11 +1,12 @@
use crate::dynamics::{MassProperties, RigidBodyHandle, RigidBodySet};
use crate::geometry::{
Ball, Capsule, ColliderGraphIndex, Contact, Cuboid, HeightField, InteractionGraph, Polygon,
Proximity, Triangle, Trimesh,
Proximity, Ray, RayIntersection, Triangle, Trimesh,
};
use crate::math::{AngVector, Isometry, Point, Rotation, Vector};
use na::Point3;
use ncollide::bounding_volume::{HasBoundingVolume, AABB};
use ncollide::query::RayCast;
use num::Zero;
#[derive(Clone)]
@@ -97,6 +98,46 @@ impl Shape {
Shape::HeightField(heightfield) => heightfield.bounding_volume(position),
}
}
/// Computes the first intersection point between a ray in this collider.
///
/// Some shapes are not supported yet and will always return `None`.
///
/// # Parameters
/// - `position`: the position of this shape.
/// - `ray`: the ray to cast.
/// - `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively
/// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `f32::MAX` for an unbounded ray.
pub fn cast_ray(
&self,
position: &Isometry<f32>,
ray: &Ray,
max_toi: f32,
) -> Option<RayIntersection> {
match self {
Shape::Ball(ball) => ball.toi_and_normal_with_ray(position, ray, max_toi, true),
Shape::Polygon(_poly) => None,
Shape::Capsule(caps) => {
let pos = position * caps.transform_wrt_y();
let caps = ncollide::shape::Capsule::new(caps.half_height(), caps.radius);
caps.toi_and_normal_with_ray(&pos, ray, max_toi, true)
}
Shape::Cuboid(cuboid) => cuboid.toi_and_normal_with_ray(position, ray, max_toi, true),
#[cfg(feature = "dim2")]
Shape::Triangle(triangle) => {
// This is not implemented yet in 2D.
None
}
#[cfg(feature = "dim3")]
Shape::Triangle(triangle) => {
triangle.toi_and_normal_with_ray(position, ray, max_toi, true)
}
Shape::Trimesh(_trimesh) => None,
Shape::HeightField(heightfield) => {
heightfield.toi_and_normal_with_ray(position, ray, max_toi, true)
}
}
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -353,6 +394,12 @@ impl ColliderBuilder {
self
}
/// Sets the restitution coefficient of the collider this builder will build.
pub fn restitution(mut self, restitution: f32) -> Self {
self.restitution = restitution;
self
}
/// Sets the density of the collider this builder will build.
pub fn density(mut self, density: f32) -> Self {
self.density = Some(density);

6
src/geometry/mod.rs
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@@ -36,6 +36,10 @@ pub type AABB = ncollide::bounding_volume::AABB<f32>;
pub type ContactEvent = ncollide::pipeline::ContactEvent<ColliderHandle>;
/// Event triggered when a sensor collider starts or stop being in proximity with another collider (sensor or not).
pub type ProximityEvent = ncollide::pipeline::ProximityEvent<ColliderHandle>;
/// A ray that can be cast against colliders.
pub type Ray = ncollide::query::Ray<f32>;
/// The intersection between a ray and a collider.
pub type RayIntersection = ncollide::query::RayIntersection<f32>;
#[cfg(feature = "simd-is-enabled")]
pub(crate) use self::ball::WBall;
@@ -48,7 +52,6 @@ pub(crate) use self::contact_generator::{clip_segments, clip_segments_with_norma
pub(crate) use self::narrow_phase::ContactManifoldIndex;
#[cfg(feature = "dim3")]
pub(crate) use self::polyhedron_feature3d::PolyhedronFace;
#[cfg(feature = "simd-is-enabled")]
pub(crate) use self::waabb::WAABB;
//pub(crate) use self::z_order::z_cmp_floats;
@@ -75,6 +78,5 @@ mod proximity_detector;
pub(crate) mod sat;
pub(crate) mod triangle;
mod trimesh;
#[cfg(feature = "simd-is-enabled")]
mod waabb;
//mod z_order;

93
src/geometry/waabb.rs
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@@ -1,15 +1,27 @@
#[cfg(feature = "serde-serialize")]
use crate::math::DIM;
use crate::math::{Point, SimdBool, SimdFloat, SIMD_WIDTH};
use crate::math::{Point, SIMD_WIDTH};
use ncollide::bounding_volume::AABB;
use simba::simd::{SimdPartialOrd, SimdValue};
#[cfg(feature = "simd-is-enabled")]
use {
crate::math::{SimdBool, SimdFloat},
simba::simd::{SimdPartialOrd, SimdValue},
};
#[derive(Debug, Copy, Clone)]
#[cfg(feature = "simd-is-enabled")]
pub(crate) struct WAABB {
pub mins: Point<SimdFloat>,
pub maxs: Point<SimdFloat>,
}
#[derive(Debug, Copy, Clone)]
#[cfg(not(feature = "simd-is-enabled"))]
pub(crate) struct WAABB {
pub mins: [Point<f32>; SIMD_WIDTH],
pub maxs: [Point<f32>; SIMD_WIDTH],
}
#[cfg(feature = "serde-serialize")]
impl serde::Serialize for WAABB {
fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
@@ -18,16 +30,24 @@ impl serde::Serialize for WAABB {
{
use serde::ser::SerializeStruct;
#[cfg(feature = "simd-is-enabled")]
let mins: Point<[f32; SIMD_WIDTH]> = Point::from(
self.mins
.coords
.map(|e| array![|ii| e.extract(ii); SIMD_WIDTH]),
);
#[cfg(feature = "simd-is-enabled")]
let maxs: Point<[f32; SIMD_WIDTH]> = Point::from(
self.maxs
.coords
.map(|e| array![|ii| e.extract(ii); SIMD_WIDTH]),
);
#[cfg(not(feature = "simd-is-enabled"))]
let mins = self.mins;
#[cfg(not(feature = "simd-is-enabled"))]
let maxs = self.maxs;
let mut waabb = serializer.serialize_struct("WAABB", 2)?;
waabb.serialize_field("mins", &mins)?;
waabb.serialize_field("maxs", &maxs)?;
@@ -52,6 +72,7 @@ impl<'de> serde::Deserialize<'de> for WAABB {
)
}
#[cfg(feature = "simd-is-enabled")]
fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
where
A: serde::de::SeqAccess<'de>,
@@ -66,17 +87,36 @@ impl<'de> serde::Deserialize<'de> for WAABB {
let maxs = Point::from(maxs.coords.map(|e| SimdFloat::from(e)));
Ok(WAABB { mins, maxs })
}
#[cfg(not(feature = "simd-is-enabled"))]
fn visit_seq<A>(self, mut seq: A) -> Result<Self::Value, A::Error>
where
A: serde::de::SeqAccess<'de>,
{
let mins = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(0, &self))?;
let maxs = seq
.next_element()?
.ok_or_else(|| serde::de::Error::invalid_length(1, &self))?;
Ok(WAABB { mins, maxs })
}
}
deserializer.deserialize_struct("WAABB", &["mins", "maxs"], Visitor {})
}
}
#[cfg(feature = "simd-is-enabled")]
impl WAABB {
pub fn new(mins: Point<SimdFloat>, maxs: Point<SimdFloat>) -> Self {
Self { mins, maxs }
}
pub fn new_invalid() -> Self {
Self::splat(AABB::new_invalid())
}
pub fn splat(aabb: AABB<f32>) -> Self {
Self {
mins: Point::splat(aabb.mins),
@@ -103,6 +143,7 @@ impl WAABB {
}
}
#[cfg(feature = "simd-is-enabled")]
impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB {
fn from(aabbs: [AABB<f32>; SIMD_WIDTH]) -> Self {
let mins = array![|ii| aabbs[ii].mins; SIMD_WIDTH];
@@ -114,3 +155,51 @@ impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB {
}
}
}
#[cfg(not(feature = "simd-is-enabled"))]
impl WAABB {
pub fn new_invalid() -> Self {
Self::splat(AABB::new_invalid())
}
pub fn splat(aabb: AABB<f32>) -> Self {
Self {
mins: [aabb.mins; SIMD_WIDTH],
maxs: [aabb.maxs; SIMD_WIDTH],
}
}
#[cfg(feature = "dim2")]
pub fn intersects_lanewise(&self, other: &WAABB) -> [bool; SIMD_WIDTH] {
array![|ii|
self.mins[ii].x <= other.maxs[ii].x
&& other.mins[ii].x <= self.maxs[ii].x
&& self.mins[ii].y <= other.maxs[ii].y
&& other.mins[ii].y <= self.maxs[ii].y
; SIMD_WIDTH
]
}
#[cfg(feature = "dim3")]
pub fn intersects_lanewise(&self, other: &WAABB) -> [bool; SIMD_WIDTH] {
array![|ii|
self.mins[ii].x <= other.maxs[ii].x
&& other.mins[ii].x <= self.maxs[ii].x
&& self.mins[ii].y <= other.maxs[ii].y
&& other.mins[ii].y <= self.maxs[ii].y
&& self.mins[ii].z <= other.maxs[ii].z
&& other.mins[ii].z <= self.maxs[ii].z
; SIMD_WIDTH
]
}
}
#[cfg(not(feature = "simd-is-enabled"))]
impl From<[AABB<f32>; SIMD_WIDTH]> for WAABB {
fn from(aabbs: [AABB<f32>; SIMD_WIDTH]) -> Self {
let mins = array![|ii| aabbs[ii].mins; SIMD_WIDTH];
let maxs = array![|ii| aabbs[ii].maxs; SIMD_WIDTH];
WAABB { mins, maxs }
}
}

9
src/lib.rs
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@@ -44,7 +44,6 @@ macro_rules! enable_flush_to_zero(
}
);
#[cfg(feature = "simd-is-enabled")]
macro_rules! array(
($callback: expr; SIMD_WIDTH) => {
{
@@ -139,7 +138,6 @@ pub mod utils;
#[cfg(feature = "dim2")]
/// Math primitives used throughout Rapier.
pub mod math {
#[cfg(feature = "simd-is-enabled")]
pub use super::simd::*;
use na::{Isometry2, Matrix2, Point2, Translation2, UnitComplex, Vector2, Vector3, U1, U2};
@@ -182,7 +180,6 @@ pub mod math {
#[cfg(feature = "dim3")]
/// Math primitives used throughout Rapier.
pub mod math {
#[cfg(feature = "simd-is-enabled")]
pub use super::simd::*;
use na::{Isometry3, Matrix3, Point3, Translation3, UnitQuaternion, Vector3, Vector6, U3};
@@ -220,6 +217,12 @@ pub mod math {
pub type SdpMatrix<N> = crate::utils::SdpMatrix3<N>;
}
#[cfg(not(feature = "simd-is-enabled"))]
mod simd {
/// The number of lanes of a SIMD number.
pub const SIMD_WIDTH: usize = 4;
}
#[cfg(feature = "simd-is-enabled")]
mod simd {
#[allow(unused_imports)]

2
src/pipeline/mod.rs
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@@ -3,7 +3,9 @@
pub use collision_pipeline::CollisionPipeline;
pub use event_handler::{ChannelEventCollector, EventHandler};
pub use physics_pipeline::PhysicsPipeline;
pub use query_pipeline::QueryPipeline;
mod collision_pipeline;
mod event_handler;
mod physics_pipeline;
mod query_pipeline;

306
src/pipeline/query_pipeline.rs Normal file
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@@ -0,0 +1,306 @@
use crate::dynamics::RigidBodySet;
use crate::geometry::{Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, AABB, WAABB};
use crate::math::{Point, Vector};
use ncollide::bounding_volume::BoundingVolume;
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
struct NodeIndex {
index: u32, // Index of the addressed node in the `children` array.
lane: u8, // SIMD lane of the addressed node.
}
impl NodeIndex {
fn new(index: u32, lane: u8) -> Self {
Self { index, lane }
}
fn invalid() -> Self {
Self {
index: u32::MAX,
lane: 0,
}
}
}
#[derive(Copy, Clone, Debug)]
struct WAABBHierarchyNodeChildren {
waabb: WAABB,
// Index of the children of the 4 nodes represented by self.
// If this is a leaf, it contains the proxy ids instead.
grand_children: [u32; 4],
parent: NodeIndex,
leaf: bool, // TODO: pack this with the NodexIndex.lane?
}
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
struct ColliderNodeIndex {
node: NodeIndex,
handle: ColliderHandle, // The collider handle. TODO: only set the collider generation here?
}
impl ColliderNodeIndex {
fn invalid() -> Self {
Self {
node: NodeIndex::invalid(),
handle: ColliderSet::invalid_handle(),
}
}
}
struct WAABBHierarchy {
children: Vec<WAABBHierarchyNodeChildren>,
dirty: Vec<bool>, // TODO: use a bitvec/Vob and check it does not break cross-platform determinism.
proxies: Vec<ColliderNodeIndex>,
}
impl WAABBHierarchy {
pub fn new() -> Self {
WAABBHierarchy {
children: Vec::new(),
dirty: Vec::new(),
proxies: Vec::new(),
}
}
pub fn clear_and_rebuild(&mut self, colliders: &ColliderSet) {
self.children.clear();
self.dirty.clear();
self.proxies.clear();
// Create proxies.
let mut indices = Vec::with_capacity(colliders.len());
let mut proxies = vec![ColliderNodeIndex::invalid(); colliders.len()];
for (handle, collider) in colliders.iter() {
let index = handle.into_raw_parts().0;
if proxies.len() < handle.into_raw_parts().0 {
proxies.resize(index + 1, ColliderNodeIndex::invalid());
}
proxies[index].handle = handle;
indices.push(index);
}
// Compute AABBs.
let mut aabbs = vec![AABB::new_invalid(); proxies.len()];
for (handle, collider) in colliders.iter() {
let index = handle.into_raw_parts().0;
let aabb = collider.compute_aabb();
aabbs[index] = aabb;
}
// Build the tree recursively.
let root_node = WAABBHierarchyNodeChildren {
waabb: WAABB::new_invalid(),
grand_children: [1; 4],
parent: NodeIndex::invalid(),
leaf: false,
};
self.children.push(root_node);
let root_id = NodeIndex::new(0, 0);
let (_, aabb) = self.do_recurse_build(&mut indices, &aabbs, root_id);
self.children[0].waabb = WAABB::splat(aabb);
}
fn do_recurse_build(
&mut self,
indices: &mut [usize],
aabbs: &[AABB],
parent: NodeIndex,
) -> (u32, AABB) {
// Leaf case.
if indices.len() <= 4 {
let my_id = self.children.len();
let mut my_aabb = AABB::new_invalid();
let mut leaf_aabbs = [AABB::new_invalid(); 4];
let mut proxy_ids = [u32::MAX; 4];
for (k, id) in indices.iter().enumerate() {
my_aabb.merge(&aabbs[*id]);
leaf_aabbs[k] = aabbs[*id];
proxy_ids[k] = *id as u32;
}
let node = WAABBHierarchyNodeChildren {
waabb: WAABB::from(leaf_aabbs),
grand_children: proxy_ids,
parent,
leaf: true,
};
self.children.push(node);
return (my_id as u32, my_aabb);
}
// Compute the center and variance along each dimension.
// In 3D we compute the variance to not-subdivide the dimension with lowest variance.
// Therefore variance computation is not needed in 2D because we only have 2 dimension
// to split in the first place.
let mut center = Point::origin();
#[cfg(feature = "dim3")]
let mut variance = Vector::zeros();
let denom = 1.0 / (indices.len() as f32);
for i in &*indices {
let coords = aabbs[*i].center().coords;
center += coords * denom;
#[cfg(feature = "dim3")]
{
variance += coords.component_mul(&coords) * denom;
}
}
#[cfg(feature = "dim3")]
{
variance = variance - center.coords.component_mul(&center.coords);
}
// Find the axis with minimum variance. This is the axis along
// which we are **not** subdividing our set.
let mut subdiv_dims = [0, 1];
#[cfg(feature = "dim3")]
{
let min = variance.imin();
subdiv_dims[0] = (min + 1) % 3;
subdiv_dims[1] = (min + 2) % 3;
}
// Split the set along the two subdiv_dims dimensions.
// TODO: should we split wrt. the median instead of the average?
// TODO: we should ensure each subslice contains at least 4 elements each (or less if
// indices has less than 16 elements in the first place.
let (left, right) = split_indices_wrt_dim(indices, &aabbs, subdiv_dims[0]);
let (left_bottom, left_top) = split_indices_wrt_dim(left, &aabbs, subdiv_dims[1]);
let (right_bottom, right_top) = split_indices_wrt_dim(right, &aabbs, subdiv_dims[1]);
let node = WAABBHierarchyNodeChildren {
waabb: WAABB::new_invalid(),
grand_children: [0; 4], // Will be set after the recursive call
parent,
leaf: false,
};
let id = self.children.len() as u32;
self.children.push(node);
// Recurse!
let a = self.do_recurse_build(left_bottom, aabbs, NodeIndex::new(id, 0));
let b = self.do_recurse_build(left_top, aabbs, NodeIndex::new(id, 1));
let c = self.do_recurse_build(right_bottom, aabbs, NodeIndex::new(id, 2));
let d = self.do_recurse_build(right_top, aabbs, NodeIndex::new(id, 3));
// Now we know the indices of the grand-children.
self.children[id as usize].grand_children = [a.0, b.0, c.0, d.0];
self.children[id as usize].waabb = WAABB::from([a.1, b.1, c.1, d.1]);
// TODO: will this chain of .merged be properly optimized?
let my_aabb = a.1.merged(&b.1).merged(&c.1).merged(&c.1);
(id, my_aabb)
}
}
fn split_indices_wrt_dim<'a>(
indices: &'a mut [usize],
aabbs: &[AABB],
dim: usize,
) -> (&'a mut [usize], &'a mut [usize]) {
let mut icurr = 0;
let mut ilast = indices.len() - 1;
// The loop condition we can just do 0..indices.len()
// instead of the test icurr < ilast because we know
// we will iterate exactly once per index.
for _ in 0..indices.len() {
let i = indices[icurr];
let center = aabbs[i].center();
if center[dim] > center[dim] {
indices.swap(icurr, ilast);
ilast -= 1;
} else {
icurr += 1;
}
}
indices.split_at_mut(icurr)
}
/// A pipeline for performing queries on all the colliders of a scene.
pub struct QueryPipeline {
// hierarchy: WAABBHierarchy,
}
impl Default for QueryPipeline {
fn default() -> Self {
Self::new()
}
}
impl QueryPipeline {
/// Initializes an empty query pipeline.
pub fn new() -> Self {
Self {
// hierarchy: WAABBHierarchy::new(),
}
}
/// Update the acceleration structure on the query pipeline.
pub fn update(&mut self, _bodies: &mut RigidBodySet, _colliders: &mut ColliderSet) {}
/// Find the closest intersection between a ray and a set of collider.
///
/// # Parameters
/// - `position`: the position of this shape.
/// - `ray`: the ray to cast.
/// - `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively
/// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `f32::MAX` for an unbounded ray.
pub fn cast_ray<'a>(
&self,
colliders: &'a ColliderSet,
ray: &Ray,
max_toi: f32,
) -> Option<(ColliderHandle, &'a Collider, RayIntersection)> {
let mut best = f32::MAX;
let mut result = None;
// FIXME: this is a brute-force approach.
for (handle, collider) in colliders.iter() {
if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) {
if inter.toi < best {
best = inter.toi;
result = Some((handle, collider, inter));
}
}
}
result
}
/// Find the all intersections between a ray and a set of collider and passes them to a callback.
///
/// # Parameters
/// - `position`: the position of this shape.
/// - `ray`: the ray to cast.
/// - `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively
/// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `f32::MAX` for an unbounded ray.
/// - `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, ignory any further raycast.
pub fn interferences_with_ray<'a>(
&self,
colliders: &'a ColliderSet,
ray: &Ray,
max_toi: f32,
mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool,
) {
// FIXME: this is a brute-force approach.
for (handle, collider) in colliders.iter() {
if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) {
if !callback(handle, collider, inter) {
return;
}
}
}
}
}

3
src_testbed/physx_backend.rs
View File

@@ -196,7 +196,8 @@ impl PhysxWorld {
}
} else {
physx_sys::PxShapeFlags {
mBits: physx_sys::PxShapeFlag::eSIMULATION_SHAPE as u8,
mBits: physx_sys::PxShapeFlag::eSIMULATION_SHAPE as u8
| physx_sys::PxShapeFlag::eSCENE_QUERY_SHAPE as u8,
}
};

83
src_testbed/testbed.rs
View File

@@ -21,9 +21,9 @@ use na::{self, Point2, Point3, Vector3};
use rapier::dynamics::{
ActivationStatus, IntegrationParameters, JointSet, RigidBodyHandle, RigidBodySet,
};
use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent};
use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent, Ray};
use rapier::math::Vector;
use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline};
use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
#[cfg(feature = "fluids")]
use salva::{coupling::ColliderCouplingSet, object::FluidHandle, LiquidWorld};
@@ -179,6 +179,7 @@ pub struct PhysicsState {
pub colliders: ColliderSet,
pub joints: JointSet,
pub pipeline: PhysicsPipeline,
pub query_pipeline: QueryPipeline,
}
impl PhysicsState {
@@ -190,6 +191,7 @@ impl PhysicsState {
colliders: ColliderSet::new(),
joints: JointSet::new(),
pipeline: PhysicsPipeline::new(),
query_pipeline: QueryPipeline::new(),
}
}
}
@@ -197,6 +199,7 @@ impl PhysicsState {
pub struct TestbedState {
pub running: RunMode,
pub draw_colls: bool,
pub highlighted_body: Option<RigidBodyHandle>,
// pub grabbed_object: Option<DefaultBodyPartHandle>,
// pub grabbed_object_constraint: Option<DefaultJointConstraintHandle>,
pub grabbed_object_plane: (Point3<f32>, Vector3<f32>),
@@ -240,7 +243,7 @@ pub struct Testbed {
hide_counters: bool,
// persistant_contacts: HashMap<ContactId, bool>,
font: Rc<Font>,
// cursor_pos: Point2<f32>,
cursor_pos: Point2<f32>,
events: PhysicsEvents,
event_handler: ChannelEventCollector,
ui: Option<TestbedUi>,
@@ -301,6 +304,7 @@ impl Testbed {
let state = TestbedState {
running: RunMode::Running,
draw_colls: false,
highlighted_body: None,
// grabbed_object: None,
// grabbed_object_constraint: None,
grabbed_object_plane: (Point3::origin(), na::zero()),
@@ -349,7 +353,7 @@ impl Testbed {
hide_counters: true,
// persistant_contacts: HashMap::new(),
font: Font::default(),
// cursor_pos: Point2::new(0.0f32, 0.0),
cursor_pos: Point2::new(0.0f32, 0.0),
ui,
event_handler,
events,
@@ -408,6 +412,9 @@ impl Testbed {
.set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true);
self.time = 0.0;
self.state.timestep_id = 0;
self.state.highlighted_body = None;
self.physics.query_pipeline = QueryPipeline::new();
self.physics.pipeline = PhysicsPipeline::new();
self.physics.pipeline.counters.enable();
#[cfg(all(feature = "dim2", feature = "other-backends"))]
@@ -832,6 +839,10 @@ impl Testbed {
);
}
}
WindowEvent::CursorPos(x, y, _) => {
self.cursor_pos.x = x as f32;
self.cursor_pos.y = y as f32;
}
_ => {}
}
@@ -1146,37 +1157,46 @@ impl Testbed {
self.state.grabbed_object = None;
self.state.grabbed_object_constraint = None;
}
WindowEvent::CursorPos(x, y, modifiers) => {
self.cursor_pos.x = x as f32;
self.cursor_pos.y = y as f32;
// update the joint
if let Some(joint) = self.state.grabbed_object_constraint {
let size = window.size();
let (pos, dir) = self
.graphics
.camera()
.unproject(&self.cursor_pos, &na::convert(size));
let (ref ppos, ref pdir) = self.state.grabbed_object_plane;
if let Some(inter) = query::ray_toi_with_plane(ppos, pdir, &Ray::new(pos, dir))
{
let joint = self
.constraints
.get_mut(joint)
.unwrap()
.downcast_mut::<MouseConstraint<f32, RigidBodyHandle>>()
.unwrap();
joint.set_anchor_1(pos + dir * inter)
}
}
event.inhibited = modifiers.contains(Modifiers::Shift);
}
_ => {}
}
*/
}
#[cfg(feature = "dim2")]
fn highlight_hovered_body(&mut self, window: &Window) {
// Do nothing for now.
}
#[cfg(feature = "dim3")]
fn highlight_hovered_body(&mut self, window: &Window) {
if let Some(highlighted_body) = self.state.highlighted_body {
if let Some(nodes) = self.graphics.body_nodes_mut(highlighted_body) {
for node in nodes {
node.unselect()
}
}
}
let size = window.size();
let (pos, dir) = self
.graphics
.camera()
.unproject(&self.cursor_pos, &na::convert(size));
let ray = Ray::new(pos, dir);
let hit = self
.physics
.query_pipeline
.cast_ray(&self.physics.colliders, &ray, f32::MAX);
if let Some((_, collider, _)) = hit {
if self.physics.bodies[collider.parent()].is_dynamic() {
self.state.highlighted_body = Some(collider.parent());
for node in self.graphics.body_nodes_mut(collider.parent()).unwrap() {
node.select()
}
}
}
}
}
type CameraEffects<'a> = (
@@ -1550,6 +1570,7 @@ impl State for Testbed {
}
}
self.highlight_hovered_body(window);
self.graphics.draw(&self.physics.colliders, window);
#[cfg(feature = "fluids")]