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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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9
CHANGELOG.md
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@@ -1,3 +1,12 @@
## v0.10.0
### Added
- Implement `Clone` for `IslandManager`.
### Modified
- `JointSet::insert` no longer takes the rigid-body set in its arguments.
- Modify the testbed's plugin system to let plugins interact with the rendering.
- Implement `PartialEq` for most collider and rigid-body components.
## v0.9.2 ## v0.9.2
### Added ### Added
- Make the method JointSet::remove_joints_attached_to_rigid_body public so that it can can be called externally for - Make the method JointSet::remove_joints_attached_to_rigid_body public so that it can can be called externally for

4
benchmarks2d/joint_ball2.rs
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@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
if i > 0 { if i > 0 {
let parent_handle = *body_handles.last().unwrap(); let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point::origin(), point![0.0, shift]); let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
// Horizontal joint. // Horizontal joint.
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
let parent_index = body_handles.len() - numi; let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index]; let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]); let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
body_handles.push(child_handle); body_handles.push(child_handle);

4
benchmarks2d/joint_fixed2.rs
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@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
Isometry::identity(), Isometry::identity(),
Isometry::translation(0.0, shift), Isometry::translation(0.0, shift),
); );
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
// Horizontal joint. // Horizontal joint.
@@ -61,7 +61,7 @@ pub fn init_world(testbed: &mut Testbed) {
Isometry::identity(), Isometry::identity(),
Isometry::translation(-shift, 0.0), Isometry::translation(-shift, 0.0),
); );
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
body_handles.push(child_handle); body_handles.push(child_handle);

2
benchmarks2d/joint_prismatic2.rs
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@@ -51,7 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
prism.limits_enabled = true; prism.limits_enabled = true;
prism.limits[0] = -1.5; prism.limits[0] = -1.5;
prism.limits[1] = 1.5; prism.limits[1] = 1.5;
joints.insert(&mut bodies, curr_parent, curr_child, prism); joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child; curr_parent = curr_child;
} }

4
benchmarks3d/joint_ball3.rs
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@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
if i > 0 { if i > 0 {
let parent_handle = *body_handles.last().unwrap(); let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]); let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
// Horizontal joint. // Horizontal joint.
@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
let parent_index = body_handles.len() - num; let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index]; let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]); let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
body_handles.push(child_handle); body_handles.push(child_handle);

4
benchmarks3d/joint_fixed3.rs
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@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
Isometry::identity(), Isometry::identity(),
Isometry::translation(0.0, 0.0, -shift), Isometry::translation(0.0, 0.0, -shift),
); );
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
// Horizontal joint. // Horizontal joint.
@@ -64,7 +64,7 @@ pub fn init_world(testbed: &mut Testbed) {
Isometry::identity(), Isometry::identity(),
Isometry::translation(-shift, 0.0, 0.0), Isometry::translation(-shift, 0.0, 0.0),
); );
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
body_handles.push(child_handle); body_handles.push(child_handle);

2
benchmarks3d/joint_prismatic3.rs
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@@ -59,7 +59,7 @@ pub fn init_world(testbed: &mut Testbed) {
prism.limits_enabled = true; prism.limits_enabled = true;
prism.limits[0] = -2.0; prism.limits[0] = -2.0;
prism.limits[1] = 2.0; prism.limits[1] = 2.0;
joints.insert(&mut bodies, curr_parent, curr_child, prism); joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child; curr_parent = curr_child;
} }

8
benchmarks3d/joint_revolute3.rs
View File

@@ -61,10 +61,10 @@ pub fn init_world(testbed: &mut Testbed) {
RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x), RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
]; ];
joints.insert(&mut bodies, curr_parent, handles[0], revs[0]); joints.insert(curr_parent, handles[0], revs[0]);
joints.insert(&mut bodies, handles[0], handles[1], revs[1]); joints.insert(handles[0], handles[1], revs[1]);
joints.insert(&mut bodies, handles[1], handles[2], revs[2]); joints.insert(handles[1], handles[2], revs[2]);
joints.insert(&mut bodies, handles[2], handles[3], revs[3]); joints.insert(handles[2], handles[3], revs[3]);
curr_parent = handles[3]; curr_parent = handles[3];
} }

6
build/rapier2d-f64/Cargo.toml
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@@ -1,6 +1,6 @@
[package] [package]
name = "rapier2d-f64" name = "rapier2d-f64"
version = "0.9.2" version = "0.10.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ] authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "2-dimensional physics engine in Rust." description = "2-dimensional physics engine in Rust."
documentation = "http://docs.rs/rapier2d" documentation = "http://docs.rs/rapier2d"
@@ -47,8 +47,8 @@ required-features = [ "dim2", "f64" ]
vec_map = { version = "0.8", optional = true } vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ]} instant = { version = "0.1", features = [ "now" ]}
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.27" nalgebra = "0.28"
parry2d-f64 = "0.5" parry2d-f64 = "0.6"
simba = "0.5" simba = "0.5"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

6
build/rapier2d/Cargo.toml
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@@ -1,6 +1,6 @@
[package] [package]
name = "rapier2d" name = "rapier2d"
version = "0.9.2" version = "0.10.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ] authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "2-dimensional physics engine in Rust." description = "2-dimensional physics engine in Rust."
documentation = "http://docs.rs/rapier2d" documentation = "http://docs.rs/rapier2d"
@@ -47,8 +47,8 @@ required-features = [ "dim2", "f32" ]
vec_map = { version = "0.8", optional = true } vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ]} instant = { version = "0.1", features = [ "now" ]}
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.27" nalgebra = "0.28"
parry2d = "0.5" parry2d = "0.6"
simba = "0.5" simba = "0.5"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

6
build/rapier3d-f64/Cargo.toml
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@@ -1,6 +1,6 @@
[package] [package]
name = "rapier3d-f64" name = "rapier3d-f64"
version = "0.9.2" version = "0.10.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ] authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "3-dimensional physics engine in Rust." description = "3-dimensional physics engine in Rust."
documentation = "http://docs.rs/rapier3d" documentation = "http://docs.rs/rapier3d"
@@ -47,8 +47,8 @@ required-features = [ "dim3", "f64" ]
vec_map = { version = "0.8", optional = true } vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ]} instant = { version = "0.1", features = [ "now" ]}
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.27" nalgebra = "0.28"
parry3d-f64 = "0.5" parry3d-f64 = "0.6"
simba = "0.5" simba = "0.5"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

6
build/rapier3d/Cargo.toml
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@@ -1,6 +1,6 @@
[package] [package]
name = "rapier3d" name = "rapier3d"
version = "0.9.2" version = "0.10.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ] authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "3-dimensional physics engine in Rust." description = "3-dimensional physics engine in Rust."
documentation = "http://docs.rs/rapier3d" documentation = "http://docs.rs/rapier3d"
@@ -47,8 +47,8 @@ required-features = [ "dim3", "f32" ]
vec_map = { version = "0.8", optional = true } vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = [ "now" ]} instant = { version = "0.1", features = [ "now" ]}
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.27" nalgebra = "0.28"
parry3d = "0.5" parry3d = "0.6"
simba = "0.5" simba = "0.5"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

12
build/rapier_testbed2d/Cargo.toml
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@@ -1,6 +1,6 @@
[package] [package]
name = "rapier_testbed2d" name = "rapier_testbed2d"
version = "0.9.0" version = "0.10.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ] authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust." description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.org" homepage = "http://rapier.org"
@@ -26,16 +26,16 @@ other-backends = [ "wrapped2d", "nphysics2d" ]
[dependencies] [dependencies]
nalgebra = { version = "0.27", features = [ "rand" ] } nalgebra = { version = "0.28", features = [ "rand" ] }
rand = "0.8" rand = "0.8"
rand_pcg = "0.3" rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]} instant = { version = "0.1", features = [ "web-sys", "now" ]}
bitflags = "1" bitflags = "1"
num_cpus = { version = "1", optional = true } num_cpus = { version = "1", optional = true }
wrapped2d = { version = "0.4", optional = true } wrapped2d = { version = "0.4", optional = true }
parry2d = "0.5" parry2d = "0.6"
ncollide2d = "0.30" ncollide2d = "0.31"
nphysics2d = { version = "0.22", optional = true } nphysics2d = { version = "0.23", optional = true }
crossbeam = "0.8" crossbeam = "0.8"
bincode = "1" bincode = "1"
Inflector = "0.11" Inflector = "0.11"
@@ -54,5 +54,5 @@ bevy_webgl2 = "0.5"
[dependencies.rapier2d] [dependencies.rapier2d]
path = "../rapier2d" path = "../rapier2d"
version = "0.9" version = "0.10"
features = [ "serde-serialize" ] features = [ "serde-serialize" ]

12
build/rapier_testbed3d/Cargo.toml
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@@ -1,6 +1,6 @@
[package] [package]
name = "rapier_testbed3d" name = "rapier_testbed3d"
version = "0.9.0" version = "0.10.0"
authors = [ "Sébastien Crozet <developer@crozet.re>" ] authors = [ "Sébastien Crozet <developer@crozet.re>" ]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust." description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.org" homepage = "http://rapier.org"
@@ -25,16 +25,16 @@ parallel = [ "rapier3d/parallel", "num_cpus" ]
other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ] other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
[dependencies] [dependencies]
nalgebra = { version = "0.27", features = [ "rand" ] } nalgebra = { version = "0.28", features = [ "rand" ] }
rand = "0.8" rand = "0.8"
rand_pcg = "0.3" rand_pcg = "0.3"
instant = { version = "0.1", features = [ "web-sys", "now" ]} instant = { version = "0.1", features = [ "web-sys", "now" ]}
bitflags = "1" bitflags = "1"
glam = { version = "0.12", optional = true } glam = { version = "0.12", optional = true }
num_cpus = { version = "1", optional = true } num_cpus = { version = "1", optional = true }
parry3d = "0.5" parry3d = "0.6"
ncollide3d = "0.30" ncollide3d = "0.31"
nphysics3d = { version = "0.22", optional = true } nphysics3d = { version = "0.23", optional = true }
physx = { version = "0.11", optional = true } physx = { version = "0.11", optional = true }
physx-sys = { version = "0.4", optional = true } physx-sys = { version = "0.4", optional = true }
crossbeam = "0.8" crossbeam = "0.8"
@@ -56,5 +56,5 @@ bevy_webgl2 = "0.5"
[dependencies.rapier3d] [dependencies.rapier3d]
path = "../rapier3d" path = "../rapier3d"
version = "0.9" version = "0.10"
features = [ "serde-serialize" ] features = [ "serde-serialize" ]

4
examples2d/joints2.rs
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@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
if i > 0 { if i > 0 {
let parent_handle = *body_handles.last().unwrap(); let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point::origin(), point![0.0, shift]); let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
// Horizontal joint. // Horizontal joint.
@@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
let parent_index = body_handles.len() - numi; let parent_index = body_handles.len() - numi;
let parent_handle = body_handles[parent_index]; let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]); let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
joints.insert(&mut bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
body_handles.push(child_handle); body_handles.push(child_handle);

2
examples3d/debug_prismatic3.rs
View File

@@ -51,7 +51,7 @@ fn prismatic_repro(
let (stiffness, damping) = (0.05, 0.2); let (stiffness, damping) = (0.05, 0.2);
prismatic.configure_motor_position(0.0, stiffness, damping); prismatic.configure_motor_position(0.0, stiffness, damping);
joints.insert(bodies, box_rb, wheel_rb, prismatic); joints.insert(box_rb, wheel_rb, prismatic);
} }
// put a small box under one of the wheels // put a small box under one of the wheels

24
examples3d/joints3.rs
View File

@@ -46,7 +46,7 @@ fn create_prismatic_joints(
prism.limits[0] = -2.0; prism.limits[0] = -2.0;
prism.limits[1] = 2.0; prism.limits[1] = 2.0;
joints.insert(bodies, curr_parent, curr_child, prism); joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child; curr_parent = curr_child;
} }
@@ -113,7 +113,7 @@ fn create_actuated_prismatic_joints(
prism.limits[1] = 5.0; prism.limits[1] = 5.0;
} }
joints.insert(bodies, curr_parent, curr_child, prism); joints.insert(curr_parent, curr_child, prism);
curr_parent = curr_child; curr_parent = curr_child;
} }
@@ -168,10 +168,10 @@ fn create_revolute_joints(
RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x), RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x),
]; ];
joints.insert(bodies, curr_parent, handles[0], revs[0]); joints.insert(curr_parent, handles[0], revs[0]);
joints.insert(bodies, handles[0], handles[1], revs[1]); joints.insert(handles[0], handles[1], revs[1]);
joints.insert(bodies, handles[1], handles[2], revs[2]); joints.insert(handles[1], handles[2], revs[2]);
joints.insert(bodies, handles[2], handles[3], revs[3]); joints.insert(handles[2], handles[3], revs[3]);
curr_parent = handles[3]; curr_parent = handles[3];
} }
@@ -221,7 +221,7 @@ fn create_fixed_joints(
Isometry::identity(), Isometry::identity(),
Isometry::translation(0.0, 0.0, -shift), Isometry::translation(0.0, 0.0, -shift),
); );
joints.insert(bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
// Horizontal joint. // Horizontal joint.
@@ -232,7 +232,7 @@ fn create_fixed_joints(
Isometry::identity(), Isometry::identity(),
Isometry::translation(-shift, 0.0, 0.0), Isometry::translation(-shift, 0.0, 0.0),
); );
joints.insert(bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
body_handles.push(child_handle); body_handles.push(child_handle);
@@ -273,7 +273,7 @@ fn create_ball_joints(
if i > 0 { if i > 0 {
let parent_handle = *body_handles.last().unwrap(); let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]); let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]);
joints.insert(bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
// Horizontal joint. // Horizontal joint.
@@ -281,7 +281,7 @@ fn create_ball_joints(
let parent_index = body_handles.len() - num; let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index]; let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]); let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
joints.insert(bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
body_handles.push(child_handle); body_handles.push(child_handle);
@@ -348,7 +348,7 @@ fn create_actuated_revolute_joints(
joint.configure_motor_velocity(-2.0, 0.1); joint.configure_motor_velocity(-2.0, 0.1);
} }
joints.insert(bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
parent_handle = child_handle; parent_handle = child_handle;
@@ -406,7 +406,7 @@ fn create_actuated_ball_joints(
); );
} }
joints.insert(bodies, parent_handle, child_handle, joint); joints.insert(parent_handle, child_handle, joint);
} }
parent_handle = child_handle; parent_handle = child_handle;

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. /// Inserts a new joint into this set and retrieve its handle.
pub fn insert<J>( pub fn insert<J>(
&mut self, &mut self,
_bodies: &mut impl ComponentSetMut<RigidBodyIds>, // FIXME: remove this argument, this is no longer necessary.
body1: RigidBodyHandle, body1: RigidBodyHandle,
body2: RigidBodyHandle, body2: RigidBodyHandle,
joint_params: J, 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") serde(skip, default = "crate::geometry::default_query_dispatcher")
)] )]
query_dispatcher: Arc<dyn QueryDispatcher>, query_dispatcher: Arc<dyn QueryDispatcher>,
quadtree: QBVH<ColliderHandle>, qbvh: QBVH<ColliderHandle>,
tree_built: bool, tree_built: bool,
dilation_factor: Real, dilation_factor: Real,
} }
@@ -98,8 +98,8 @@ where
self.map_typed_part_at(shape_id, f); self.map_typed_part_at(shape_id, f);
} }
fn typed_quadtree(&self) -> &QBVH<ColliderHandle> { fn typed_qbvh(&self) -> &QBVH<ColliderHandle> {
&self.query_pipeline.quadtree &self.query_pipeline.qbvh
} }
} }
@@ -139,7 +139,7 @@ impl QueryPipeline {
{ {
Self { Self {
query_dispatcher: Arc::new(d), query_dispatcher: Arc::new(d),
quadtree: QBVH::new(), qbvh: QBVH::new(),
tree_built: false, tree_built: false,
dilation_factor: 0.01, dilation_factor: 0.01,
} }
@@ -285,8 +285,7 @@ impl QueryPipeline {
colliders, colliders,
mode, mode,
}; };
self.quadtree self.qbvh.clear_and_rebuild(generator, self.dilation_factor);
.clear_and_rebuild(generator, self.dilation_factor);
// FIXME: uncomment this once we handle insertion/removals properly. // FIXME: uncomment this once we handle insertion/removals properly.
// self.tree_built = true; // self.tree_built = true;
@@ -296,13 +295,13 @@ impl QueryPipeline {
for handle in islands.iter_active_bodies() { for handle in islands.iter_active_bodies() {
let body_colliders: &RigidBodyColliders = bodies.index(handle.0); let body_colliders: &RigidBodyColliders = bodies.index(handle.0);
for handle in &body_colliders.0 { for handle in &body_colliders.0 {
self.quadtree.pre_update(*handle) self.qbvh.pre_update(*handle)
} }
} }
match mode { match mode {
QueryPipelineMode::CurrentPosition => { QueryPipelineMode::CurrentPosition => {
self.quadtree.update( self.qbvh.update(
|handle| { |handle| {
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) = let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
colliders.index_bundle(handle.0); colliders.index_bundle(handle.0);
@@ -312,7 +311,7 @@ impl QueryPipeline {
); );
} }
QueryPipelineMode::SweepTestWithNextPosition => { QueryPipelineMode::SweepTestWithNextPosition => {
self.quadtree.update( self.qbvh.update(
|handle| { |handle| {
let co_parent: Option<&ColliderParent> = colliders.get(handle.0); let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) = let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
@@ -330,7 +329,7 @@ impl QueryPipeline {
); );
} }
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => { QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
self.quadtree.update( self.qbvh.update(
|handle| { |handle| {
let co_parent: Option<&ColliderParent> = colliders.get(handle.0); let co_parent: Option<&ColliderParent> = colliders.get(handle.0);
let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) = let (co_pos, co_shape): (&ColliderPosition, &ColliderShape) =
@@ -392,7 +391,7 @@ impl QueryPipeline {
let mut visitor = let mut visitor =
RayCompositeShapeToiBestFirstVisitor::new(&pipeline_shape, ray, max_toi, solid); 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. /// Find the closest intersection between a ray and a set of collider.
@@ -432,7 +431,7 @@ impl QueryPipeline {
solid, 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. /// 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); 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. /// Gets the handle of up to one collider intersecting the given shape.
@@ -521,7 +520,7 @@ impl QueryPipeline {
shape, shape,
); );
self.quadtree self.qbvh
.traverse_best_first(&mut visitor) .traverse_best_first(&mut visitor)
.map(|h| (h.1 .0)) .map(|h| (h.1 .0))
} }
@@ -558,7 +557,7 @@ impl QueryPipeline {
let mut visitor = let mut visitor =
PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid); PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid);
self.quadtree self.qbvh
.traverse_best_first(&mut visitor) .traverse_best_first(&mut visitor)
.map(|h| (h.1 .1, h.1 .0)) .map(|h| (h.1 .1, h.1 .0))
} }
@@ -607,7 +606,7 @@ impl QueryPipeline {
let mut visitor = PointIntersectionsVisitor::new(point, &mut leaf_callback); 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. /// 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 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.qbvh
.traverse_best_first(&mut visitor) .traverse_best_first(&mut visitor)
.map(|h| (h.1 .1 .0, h.1 .0, h.1 .1 .1)) .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, mut callback: impl FnMut(&ColliderHandle) -> bool,
) { ) {
let mut visitor = BoundingVolumeIntersectionsVisitor::new(aabb, &mut callback); 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. /// Casts a shape at a constant linear velocity and retrieve the first collider it hits.
@@ -698,7 +697,7 @@ impl QueryPipeline {
shape, shape,
max_toi, 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. /// Casts a shape with an arbitrary continuous motion and retrieve the first collider it hits.
@@ -749,7 +748,7 @@ impl QueryPipeline {
end_time, end_time,
stop_at_penetration, 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. /// Retrieve all the colliders intersecting the given shape.
@@ -805,6 +804,6 @@ impl QueryPipeline {
let shape_aabb = shape.compute_aabb(shape_pos); let shape_aabb = shape.compute_aabb(shape_pos);
let mut visitor = BoundingVolumeIntersectionsVisitor::new(&shape_aabb, &mut leaf_callback); let mut visitor = BoundingVolumeIntersectionsVisitor::new(&shape_aabb, &mut leaf_callback);
self.quadtree.traverse_depth_first(&mut visitor); self.qbvh.traverse_depth_first(&mut visitor);
} }
} }