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Merge pull request #158 from dimforge/query_pipeline_filter

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Add the ability to pass a custom filter to all the QueryPipeline queries.
This commit is contained in:
Sébastien Crozet
2021-04-01 12:12:20 +02:00
committed by GitHub
parent f8536e73fc 2006919347
commit 6e0c1cf8fb
2 changed files with 116 additions and 43 deletions
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152
src/pipeline/query_pipeline.rs
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@@ -35,7 +35,8 @@ pub struct QueryPipeline {
struct QueryPipelineAsCompositeShape<'a> { struct QueryPipelineAsCompositeShape<'a> {
query_pipeline: &'a QueryPipeline, query_pipeline: &'a QueryPipeline,
colliders: &'a ColliderSet, colliders: &'a ColliderSet,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&'a dyn Fn(ColliderHandle, &Collider) -> bool>,
} }
/// Indicates how the colliders position should be taken into account when /// Indicates how the colliders position should be taken into account when
@@ -64,7 +65,9 @@ impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape), mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
) { ) {
if let Some(collider) = self.colliders.get(shape_id) { if let Some(collider) = self.colliders.get(shape_id) {
if collider.collision_groups.test(self.groups) { if collider.collision_groups.test(self.query_groups)
&& self.filter.map(|f| f(shape_id, collider)).unwrap_or(true)
{
f(Some(collider.position()), collider.shape()) f(Some(collider.position()), collider.shape())
} }
} }
@@ -98,12 +101,14 @@ impl QueryPipeline {
fn as_composite_shape<'a>( fn as_composite_shape<'a>(
&'a self, &'a self,
colliders: &'a ColliderSet, colliders: &'a ColliderSet,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&'a dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> QueryPipelineAsCompositeShape<'a> { ) -> QueryPipelineAsCompositeShape<'a> {
QueryPipelineAsCompositeShape { QueryPipelineAsCompositeShape {
query_pipeline: self, query_pipeline: self,
colliders, colliders,
groups, query_groups,
filter,
} }
} }
@@ -219,15 +224,24 @@ impl QueryPipeline {
/// - `ray`: the ray to cast. /// - `ray`: the ray 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 length of the ray to `ray.dir.norm() * max_toi`. Use `Real::MAX` for an unbounded ray. /// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `Real::MAX` for an unbounded ray.
/// - `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
/// even if its starts inside of it.
/// - `query_groups`: the interaction groups which will be tested against the collider's `contact_group`
/// 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,
colliders: &ColliderSet, colliders: &ColliderSet,
ray: &Ray, ray: &Ray,
max_toi: Real, max_toi: Real,
solid: bool, solid: bool,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, Real)> { ) -> Option<(ColliderHandle, Real)> {
let pipeline_shape = self.as_composite_shape(colliders, groups); let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = let mut visitor =
RayCompositeShapeToiBestFirstVisitor::new(&pipeline_shape, ray, max_toi, solid); RayCompositeShapeToiBestFirstVisitor::new(&pipeline_shape, ray, max_toi, solid);
@@ -241,15 +255,24 @@ impl QueryPipeline {
/// - `ray`: the ray to cast. /// - `ray`: the ray 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 length of the ray to `ray.dir.norm() * max_toi`. Use `Real::MAX` for an unbounded ray. /// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `Real::MAX` for an unbounded ray.
/// - `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
/// even if its starts inside of it.
/// - `query_groups`: the interaction groups which will be tested against the collider's `contact_group`
/// 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,
colliders: &ColliderSet, colliders: &ColliderSet,
ray: &Ray, ray: &Ray,
max_toi: Real, max_toi: Real,
solid: bool, solid: bool,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, RayIntersection)> { ) -> Option<(ColliderHandle, RayIntersection)> {
let pipeline_shape = self.as_composite_shape(colliders, groups); let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = RayCompositeShapeToiAndNormalBestFirstVisitor::new( let mut visitor = RayCompositeShapeToiAndNormalBestFirstVisitor::new(
&pipeline_shape, &pipeline_shape,
ray, ray,
@@ -267,6 +290,14 @@ impl QueryPipeline {
/// - `ray`: the ray to cast. /// - `ray`: the ray 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 length of the ray to `ray.dir.norm() * max_toi`. Use `Real::MAX` for an unbounded ray. /// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `Real::MAX` for an unbounded ray.
/// - `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
/// even if its starts inside of it.
/// - `query_groups`: the interaction groups which will be tested against the collider's `contact_group`
/// 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.
@@ -276,12 +307,15 @@ impl QueryPipeline {
ray: &Ray, ray: &Ray,
max_toi: Real, max_toi: Real,
solid: bool, solid: bool,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool, mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool,
) { ) {
let mut leaf_callback = &mut |handle: &ColliderHandle| { let mut leaf_callback = &mut |handle: &ColliderHandle| {
if let Some(coll) = colliders.get(*handle) { if let Some(coll) = colliders.get(*handle) {
if coll.collision_groups.test(groups) { if coll.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle, coll)).unwrap_or(true)
{
if let Some(hit) = if let Some(hit) =
coll.shape() coll.shape()
.cast_ray_and_get_normal(coll.position(), ray, max_toi, solid) .cast_ray_and_get_normal(coll.position(), ray, max_toi, solid)
@@ -304,16 +338,20 @@ 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.
/// * `groups` - The bit groups and filter associated to the ray, in order to only /// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// hit the colliders with collision groups compatible with the ray's group. /// 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,
colliders: &ColliderSet, colliders: &ColliderSet,
shape_pos: &Isometry<Real>, shape_pos: &Isometry<Real>,
shape: &dyn Shape, shape: &dyn Shape,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<ColliderHandle> { ) -> Option<ColliderHandle> {
let pipeline_shape = self.as_composite_shape(colliders, groups); let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = IntersectionCompositeShapeShapeBestFirstVisitor::new( let mut visitor = IntersectionCompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher, &*self.query_dispatcher,
shape_pos, shape_pos,
@@ -336,16 +374,20 @@ 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).
/// * `groups` - The bit groups and filter associated to the point to project, in order to only /// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// project on colliders with collision groups compatible with the ray's group. /// 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,
colliders: &ColliderSet, colliders: &ColliderSet,
point: &Point<Real>, point: &Point<Real>,
solid: bool, solid: bool,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, PointProjection)> { ) -> Option<(ColliderHandle, PointProjection)> {
let pipeline_shape = self.as_composite_shape(colliders, groups); let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = let mut visitor =
PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid); PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid);
@@ -359,20 +401,25 @@ 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.
/// * `groups` - The bit groups and filter associated to the point to test, in order to only /// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// test on colliders with collision groups compatible with the ray's group. /// 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<'a>( pub fn intersections_with_point<'a>(
&self, &self,
colliders: &'a ColliderSet, colliders: &'a ColliderSet,
point: &Point<Real>, point: &Point<Real>,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool, mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool,
) { ) {
let mut leaf_callback = &mut |handle: &ColliderHandle| { let mut leaf_callback = &mut |handle: &ColliderHandle| {
if let Some(coll) = colliders.get(*handle) { if let Some(coll) = colliders.get(*handle) {
if coll.collision_groups.test(groups) if coll.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle, coll)).unwrap_or(true)
&& coll.shape().contains_point(coll.position(), point) && coll.shape().contains_point(coll.position(), point)
{ {
return callback(*handle, coll); return callback(*handle, coll);
@@ -399,15 +446,19 @@ 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).
/// * `groups` - The bit groups and filter associated to the point to project, in order to only /// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// project on colliders with collision groups compatible with the ray's group. /// 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,
colliders: &ColliderSet, colliders: &ColliderSet,
point: &Point<Real>, point: &Point<Real>,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, PointProjection, FeatureId)> { ) -> Option<(ColliderHandle, PointProjection, FeatureId)> {
let pipeline_shape = self.as_composite_shape(colliders, groups); let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = let mut visitor =
PointCompositeShapeProjWithFeatureBestFirstVisitor::new(&pipeline_shape, point, false); PointCompositeShapeProjWithFeatureBestFirstVisitor::new(&pipeline_shape, point, false);
self.quadtree self.quadtree
@@ -437,8 +488,11 @@ 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`.
/// * `groups` - The bit groups and filter associated to the shape to cast, in order to only /// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// test on colliders with collision groups compatible with this group. /// 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,
colliders: &'a ColliderSet, colliders: &'a ColliderSet,
@@ -447,9 +501,10 @@ impl QueryPipeline {
shape: &dyn Shape, shape: &dyn Shape,
max_toi: Real, max_toi: Real,
target_distance: Real, target_distance: Real,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, TOI)> { ) -> Option<(ColliderHandle, TOI)> {
let pipeline_shape = self.as_composite_shape(colliders, groups); let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = TOICompositeShapeShapeBestFirstVisitor::new( let mut visitor = TOICompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher, &*self.query_dispatcher,
shape_pos, shape_pos,
@@ -468,10 +523,20 @@ impl QueryPipeline {
/// * `colliders` - The set of colliders taking part in this pipeline. /// * `colliders` - The set of colliders taking part in this pipeline.
/// * `shape_motion` - The motion of the shape. /// * `shape_motion` - The motion of the shape.
/// * `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 /// * `start_time` - The starting time of the interval where the motion takes place.
/// limits the distance traveled by the shape to `shapeVel.norm() * maxToi`. /// * `end_time` - The end time of the interval where the motion takes place.
/// * `groups` - The bit groups and filter associated to the shape to cast, in order to only /// * `stop_at_penetration` - If the casted shape starts in a penetration state with any
/// test on colliders with collision groups compatible with this group. /// collider, two results are possible. If `stop_at_penetration` is `true` then, the
/// result will have a `toi` equal to `start_time`. If `stop_at_penetration` is `false`
/// then the nonlinear shape-casting will see if further motion wrt. the penetration normal
/// 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,
/// 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`
/// 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,
colliders: &ColliderSet, colliders: &ColliderSet,
@@ -480,9 +545,10 @@ impl QueryPipeline {
start_time: Real, start_time: Real,
end_time: Real, end_time: Real,
stop_at_penetration: bool, stop_at_penetration: bool,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, TOI)> { ) -> Option<(ColliderHandle, TOI)> {
let pipeline_shape = self.as_composite_shape(colliders, groups); let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let pipeline_motion = NonlinearRigidMotion::identity(); let pipeline_motion = NonlinearRigidMotion::identity();
let mut visitor = NonlinearTOICompositeShapeShapeBestFirstVisitor::new( let mut visitor = NonlinearTOICompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher, &*self.query_dispatcher,
@@ -504,15 +570,19 @@ 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.
/// * `groups` - The bit groups and filter associated to the shape to test, in order to only /// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// test on colliders with collision groups compatible with this group. /// 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,
colliders: &'a ColliderSet, colliders: &'a ColliderSet,
shape_pos: &Isometry<Real>, shape_pos: &Isometry<Real>,
shape: &dyn Shape, shape: &dyn Shape,
groups: InteractionGroups, query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool, mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool,
) { ) {
let dispatcher = &*self.query_dispatcher; let dispatcher = &*self.query_dispatcher;
@@ -520,7 +590,9 @@ impl QueryPipeline {
let mut leaf_callback = &mut |handle: &ColliderHandle| { let mut leaf_callback = &mut |handle: &ColliderHandle| {
if let Some(coll) = colliders.get(*handle) { if let Some(coll) = colliders.get(*handle) {
if coll.collision_groups.test(groups) { if coll.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle, coll)).unwrap_or(true)
{
let pos12 = inv_shape_pos * coll.position(); let pos12 = inv_shape_pos * coll.position();
if dispatcher.intersection_test(&pos12, shape, coll.shape()) == Ok(true) { if dispatcher.intersection_test(&pos12, shape, coll.shape()) == Ok(true) {

1
src_testbed/testbed.rs
View File

@@ -1000,6 +1000,7 @@ impl Testbed {
f32::MAX, f32::MAX,
true, true,
InteractionGroups::all(), InteractionGroups::all(),
None,
); );
if let Some((handle, _)) = hit { if let Some((handle, _)) = hit {