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Release v0.10.0

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This commit is contained in:
Crozet Sébastien
2021-07-11 18:41:51 +02:00
committed by Sébastien Crozet
parent 9233a855f0
commit 77a6cd3f26
19 changed files with 82 additions and 75 deletions
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1
src/dynamics/joint/joint_set.rs
View File

@@ -172,7 +172,6 @@ impl JointSet {
/// Inserts a new joint into this set and retrieve its handle.
pub fn insert<J>(
&mut self,
_bodies: &mut impl ComponentSetMut<RigidBodyIds>, // FIXME: remove this argument, this is no longer necessary.
body1: RigidBodyHandle,
body2: RigidBodyHandle,
joint_params: J,

41
src/pipeline/query_pipeline.rs
View File

@@ -35,7 +35,7 @@ pub struct QueryPipeline {
serde(skip, default = "crate::geometry::default_query_dispatcher")
)]
query_dispatcher: Arc<dyn QueryDispatcher>,
quadtree: QBVH<ColliderHandle>,
qbvh: QBVH<ColliderHandle>,
tree_built: bool,
dilation_factor: Real,
}
@@ -98,8 +98,8 @@ where
self.map_typed_part_at(shape_id, f);
}
fn typed_quadtree(&self) -> &QBVH<ColliderHandle> {
&self.query_pipeline.quadtree
fn typed_qbvh(&self) -> &QBVH<ColliderHandle> {
&self.query_pipeline.qbvh
}
}
@@ -139,7 +139,7 @@ impl QueryPipeline {
{
Self {
query_dispatcher: Arc::new(d),
quadtree: QBVH::new(),
qbvh: QBVH::new(),
tree_built: false,
dilation_factor: 0.01,
}
@@ -285,8 +285,7 @@ impl QueryPipeline {
colliders,
mode,
};
self.quadtree
.clear_and_rebuild(generator, self.dilation_factor);
self.qbvh.clear_and_rebuild(generator, self.dilation_factor);
// FIXME: uncomment this once we handle insertion/removals properly.
// self.tree_built = true;
@@ -296,13 +295,13 @@ impl QueryPipeline {
for handle in islands.iter_active_bodies() {
let body_colliders: &RigidBodyColliders = bodies.index(handle.0);
for handle in &body_colliders.0 {
self.quadtree.pre_update(*handle)
self.qbvh.pre_update(*handle)
}
}
match mode {
QueryPipelineMode::CurrentPosition => {
self.quadtree.update(
self.qbvh.update(
|handle| {
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
colliders.index_bundle(handle.0);
@@ -312,7 +311,7 @@ impl QueryPipeline {
);
}
QueryPipelineMode::SweepTestWithNextPosition => {
self.quadtree.update(
self.qbvh.update(
|handle| {
let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
@@ -330,7 +329,7 @@ impl QueryPipeline {
);
}
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
self.quadtree.update(
self.qbvh.update(
|handle| {
let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
@@ -392,7 +391,7 @@ impl QueryPipeline {
let mut visitor =
RayCompositeShapeToiBestFirstVisitor::new(&pipeline_shape, ray, max_toi, solid);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
}
/// Find the closest intersection between a ray and a set of collider.
@@ -432,7 +431,7 @@ impl QueryPipeline {
solid,
);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
}
/// Find the all intersections between a ray and a set of collider and passes them to a callback.
@@ -486,7 +485,7 @@ impl QueryPipeline {
};
let mut visitor = RayIntersectionsVisitor::new(ray, max_toi, &mut leaf_callback);
self.quadtree.traverse_depth_first(&mut visitor);
self.qbvh.traverse_depth_first(&mut visitor);
}
/// Gets the handle of up to one collider intersecting the given shape.
@@ -521,7 +520,7 @@ impl QueryPipeline {
shape,
);
self.quadtree
self.qbvh
.traverse_best_first(&mut visitor)
.map(|h| (h.1 .0))
}
@@ -558,7 +557,7 @@ impl QueryPipeline {
let mut visitor =
PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid);
self.quadtree
self.qbvh
.traverse_best_first(&mut visitor)
.map(|h| (h.1 .1, h.1 .0))
}
@@ -607,7 +606,7 @@ impl QueryPipeline {
let mut visitor = PointIntersectionsVisitor::new(point, &mut leaf_callback);
self.quadtree.traverse_depth_first(&mut visitor);
self.qbvh.traverse_depth_first(&mut visitor);
}
/// Find the projection of a point on the closest collider.
@@ -642,7 +641,7 @@ impl QueryPipeline {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor =
PointCompositeShapeProjWithFeatureBestFirstVisitor::new(&pipeline_shape, point, false);
self.quadtree
self.qbvh
.traverse_best_first(&mut visitor)
.map(|h| (h.1 .1 .0, h.1 .0, h.1 .1 .1))
}
@@ -654,7 +653,7 @@ impl QueryPipeline {
mut callback: impl FnMut(&ColliderHandle) -> bool,
) {
let mut visitor = BoundingVolumeIntersectionsVisitor::new(aabb, &mut callback);
self.quadtree.traverse_depth_first(&mut visitor);
self.qbvh.traverse_depth_first(&mut visitor);
}
/// Casts a shape at a constant linear velocity and retrieve the first collider it hits.
@@ -698,7 +697,7 @@ impl QueryPipeline {
shape,
max_toi,
);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
}
/// Casts a shape with an arbitrary continuous motion and retrieve the first collider it hits.
@@ -749,7 +748,7 @@ impl QueryPipeline {
end_time,
stop_at_penetration,
);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
}
/// Retrieve all the colliders intersecting the given shape.
@@ -805,6 +804,6 @@ impl QueryPipeline {
let shape_aabb = shape.compute_aabb(shape_pos);
let mut visitor = BoundingVolumeIntersectionsVisitor::new(&shape_aabb, &mut leaf_callback);
self.quadtree.traverse_depth_first(&mut visitor);
self.qbvh.traverse_depth_first(&mut visitor);
}
}