feat: rework QueryPipeline update API to take less parameters (#647)
* chore: rework QueryPipeline API to take a generic qbvh updater This allows to pass less parameters depending on the updating mode. * chore: rework struct and functions names, and docs --------- Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
This commit is contained in:
Thierry Berger
GitHub
714
src/pipeline/query_pipeline/mod.rs
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714
src/pipeline/query_pipeline/mod.rs
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@@ -0,0 +1,714 @@
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pub mod generators;
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use crate::dynamics::RigidBodyHandle;
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use crate::geometry::{
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Aabb, Collider, ColliderHandle, InteractionGroups, PointProjection, Qbvh, Ray, RayIntersection,
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};
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use crate::math::{Isometry, Point, Real, Vector};
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use crate::{dynamics::RigidBodySet, geometry::ColliderSet};
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use parry::partitioning::{QbvhDataGenerator, QbvhUpdateWorkspace};
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use parry::query::details::{
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NonlinearTOICompositeShapeShapeBestFirstVisitor, NormalConstraints,
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PointCompositeShapeProjBestFirstVisitor, PointCompositeShapeProjWithFeatureBestFirstVisitor,
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RayCompositeShapeToiAndNormalBestFirstVisitor, RayCompositeShapeToiBestFirstVisitor,
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ShapeCastOptions, TOICompositeShapeShapeBestFirstVisitor,
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};
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use parry::query::visitors::{
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BoundingVolumeIntersectionsVisitor, PointIntersectionsVisitor, RayIntersectionsVisitor,
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};
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use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher, ShapeCastHit};
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use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape};
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use std::sync::Arc;
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/// A pipeline for performing queries on all the colliders of a scene.
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone)]
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pub struct QueryPipeline {
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#[cfg_attr(
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feature = "serde-serialize",
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serde(skip, default = "crate::geometry::default_query_dispatcher")
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)]
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query_dispatcher: Arc<dyn QueryDispatcher>,
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qbvh: Qbvh<ColliderHandle>,
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dilation_factor: Real,
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#[cfg_attr(feature = "serde-serialize", serde(skip))]
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workspace: QbvhUpdateWorkspace,
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}
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struct QueryPipelineAsCompositeShape<'a> {
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query_pipeline: &'a QueryPipeline,
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bodies: &'a RigidBodySet,
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colliders: &'a ColliderSet,
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filter: QueryFilter<'a>,
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}
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bitflags::bitflags! {
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#[derive(Default)]
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/// Flags for excluding whole sets of colliders from a scene query.
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pub struct QueryFilterFlags: u32 {
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/// Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached.
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const EXCLUDE_FIXED = 1 << 1;
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/// Exclude from the query any collider attached to a kinematic rigid-body.
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const EXCLUDE_KINEMATIC = 1 << 2;
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/// Exclude from the query any collider attached to a dynamic rigid-body.
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const EXCLUDE_DYNAMIC = 1 << 3;
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/// Exclude from the query any collider that is a sensor.
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const EXCLUDE_SENSORS = 1 << 4;
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/// Exclude from the query any collider that is not a sensor.
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const EXCLUDE_SOLIDS = 1 << 5;
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/// Excludes all colliders not attached to a dynamic rigid-body.
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const ONLY_DYNAMIC = Self::EXCLUDE_FIXED.bits | Self::EXCLUDE_KINEMATIC.bits;
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/// Excludes all colliders not attached to a kinematic rigid-body.
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const ONLY_KINEMATIC = Self::EXCLUDE_DYNAMIC.bits | Self::EXCLUDE_FIXED.bits;
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/// Exclude all colliders attached to a non-fixed rigid-body
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/// (this will not exclude colliders not attached to any rigid-body).
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const ONLY_FIXED = Self::EXCLUDE_DYNAMIC.bits | Self::EXCLUDE_KINEMATIC.bits;
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}
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}
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impl QueryFilterFlags {
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/// Tests if the given collider should be taken into account by a scene query, based
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/// on the flags on `self`.
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#[inline]
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pub fn test(&self, bodies: &RigidBodySet, collider: &Collider) -> bool {
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if self.is_empty() {
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// No filter.
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return true;
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}
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if (self.contains(QueryFilterFlags::EXCLUDE_SENSORS) && collider.is_sensor())
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|| (self.contains(QueryFilterFlags::EXCLUDE_SOLIDS) && !collider.is_sensor())
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{
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return false;
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}
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if self.contains(QueryFilterFlags::EXCLUDE_FIXED) && collider.parent.is_none() {
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return false;
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}
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if let Some(parent) = collider.parent.and_then(|p| bodies.get(p.handle)) {
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let parent_type = parent.body_type();
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if (self.contains(QueryFilterFlags::EXCLUDE_FIXED) && parent_type.is_fixed())
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|| (self.contains(QueryFilterFlags::EXCLUDE_KINEMATIC)
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&& parent_type.is_kinematic())
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|| (self.contains(QueryFilterFlags::EXCLUDE_DYNAMIC) && parent_type.is_dynamic())
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{
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return false;
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}
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}
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true
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}
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}
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/// A filter that describes what collider should be included or excluded from a scene query.
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#[derive(Copy, Clone, Default)]
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pub struct QueryFilter<'a> {
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/// Flags indicating what particular type of colliders should be excluded from the scene query.
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pub flags: QueryFilterFlags,
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/// If set, only colliders with collision groups compatible with this one will
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/// be included in the scene query.
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pub groups: Option<InteractionGroups>,
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/// If set, this collider will be excluded from the scene query.
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pub exclude_collider: Option<ColliderHandle>,
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/// If set, any collider attached to this rigid-body will be excluded from the scene query.
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pub exclude_rigid_body: Option<RigidBodyHandle>,
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/// If set, any collider for which this closure returns false will be excluded from the scene query.
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#[allow(clippy::type_complexity)] // Type doesn’t look really complex?
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pub predicate: Option<&'a dyn Fn(ColliderHandle, &Collider) -> bool>,
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}
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impl<'a> QueryFilter<'a> {
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/// Applies the filters described by `self` to a collider to determine if it has to be
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/// included in a scene query (`true`) or not (`false`).
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#[inline]
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pub fn test(&self, bodies: &RigidBodySet, handle: ColliderHandle, collider: &Collider) -> bool {
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self.exclude_collider != Some(handle)
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&& (self.exclude_rigid_body.is_none() // NOTE: deal with the `None` case separately otherwise the next test is incorrect if the collider’s parent is `None` too.
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|| self.exclude_rigid_body != collider.parent.map(|p| p.handle))
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&& self
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.groups
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.map(|grps| collider.flags.collision_groups.test(grps))
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.unwrap_or(true)
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&& self.flags.test(bodies, collider)
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&& self.predicate.map(|f| f(handle, collider)).unwrap_or(true)
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}
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}
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impl<'a> From<QueryFilterFlags> for QueryFilter<'a> {
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fn from(flags: QueryFilterFlags) -> Self {
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Self {
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flags,
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..QueryFilter::default()
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}
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}
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}
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impl<'a> From<InteractionGroups> for QueryFilter<'a> {
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fn from(groups: InteractionGroups) -> Self {
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Self {
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groups: Some(groups),
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..QueryFilter::default()
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}
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}
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}
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impl<'a> QueryFilter<'a> {
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/// A query filter that doesn’t exclude any collider.
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pub fn new() -> Self {
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Self::default()
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}
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/// Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached.
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pub fn exclude_fixed() -> Self {
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QueryFilterFlags::EXCLUDE_FIXED.into()
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}
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/// Exclude from the query any collider attached to a kinematic rigid-body.
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pub fn exclude_kinematic() -> Self {
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QueryFilterFlags::EXCLUDE_KINEMATIC.into()
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}
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/// Exclude from the query any collider attached to a dynamic rigid-body.
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pub fn exclude_dynamic() -> Self {
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QueryFilterFlags::EXCLUDE_DYNAMIC.into()
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}
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/// Excludes all colliders not attached to a dynamic rigid-body.
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pub fn only_dynamic() -> Self {
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QueryFilterFlags::ONLY_DYNAMIC.into()
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}
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/// Excludes all colliders not attached to a kinematic rigid-body.
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pub fn only_kinematic() -> Self {
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QueryFilterFlags::ONLY_KINEMATIC.into()
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}
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/// Exclude all colliders attached to a non-fixed rigid-body
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/// (this will not exclude colliders not attached to any rigid-body).
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pub fn only_fixed() -> Self {
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QueryFilterFlags::ONLY_FIXED.into()
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}
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/// Exclude from the query any collider that is a sensor.
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pub fn exclude_sensors(mut self) -> Self {
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self.flags |= QueryFilterFlags::EXCLUDE_SENSORS;
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self
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}
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/// Exclude from the query any collider that is not a sensor.
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pub fn exclude_solids(mut self) -> Self {
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self.flags |= QueryFilterFlags::EXCLUDE_SOLIDS;
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self
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}
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/// Only colliders with collision groups compatible with this one will
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/// be included in the scene query.
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pub fn groups(mut self, groups: InteractionGroups) -> Self {
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self.groups = Some(groups);
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self
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}
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/// Set the collider that will be excluded from the scene query.
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pub fn exclude_collider(mut self, collider: ColliderHandle) -> Self {
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self.exclude_collider = Some(collider);
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self
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}
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/// Set the rigid-body that will be excluded from the scene query.
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pub fn exclude_rigid_body(mut self, rigid_body: RigidBodyHandle) -> Self {
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self.exclude_rigid_body = Some(rigid_body);
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self
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}
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/// Set the predicate to apply a custom collider filtering during the scene query.
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pub fn predicate(mut self, predicate: &'a impl Fn(ColliderHandle, &Collider) -> bool) -> Self {
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self.predicate = Some(predicate);
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self
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}
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}
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impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> {
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type PartShape = dyn Shape;
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type PartNormalConstraints = dyn NormalConstraints;
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type PartId = ColliderHandle;
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fn map_typed_part_at(
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&self,
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shape_id: Self::PartId,
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mut f: impl FnMut(
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Option<&Isometry<Real>>,
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&Self::PartShape,
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Option<&Self::PartNormalConstraints>,
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),
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) {
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if let Some(co) = self.colliders.get(shape_id) {
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if self.filter.test(self.bodies, shape_id, co) {
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f(Some(&co.pos), &*co.shape, None)
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}
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}
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}
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fn map_untyped_part_at(
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&self,
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shape_id: Self::PartId,
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f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape, Option<&dyn NormalConstraints>),
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) {
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self.map_typed_part_at(shape_id, f);
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}
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fn typed_qbvh(&self) -> &Qbvh<ColliderHandle> {
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&self.query_pipeline.qbvh
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}
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}
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impl Default for QueryPipeline {
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fn default() -> Self {
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Self::new()
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}
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}
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impl QueryPipeline {
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/// Initializes an empty query pipeline.
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pub fn new() -> Self {
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Self::with_query_dispatcher(DefaultQueryDispatcher)
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}
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fn as_composite_shape<'a>(
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&'a self,
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bodies: &'a RigidBodySet,
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colliders: &'a ColliderSet,
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filter: QueryFilter<'a>,
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) -> QueryPipelineAsCompositeShape<'a> {
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QueryPipelineAsCompositeShape {
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query_pipeline: self,
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bodies,
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colliders,
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filter,
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}
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}
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/// Initializes an empty query pipeline with a custom `QueryDispatcher`.
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///
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/// Use this constructor in order to use a custom `QueryDispatcher` that is
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/// aware of your own user-defined shapes.
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pub fn with_query_dispatcher<D>(d: D) -> Self
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where
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D: 'static + QueryDispatcher,
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{
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Self {
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query_dispatcher: Arc::new(d),
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qbvh: Qbvh::new(),
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dilation_factor: 0.01,
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workspace: QbvhUpdateWorkspace::default(),
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}
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}
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/// The query dispatcher used by this query pipeline for running scene queries.
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pub fn query_dispatcher(&self) -> &dyn QueryDispatcher {
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&*self.query_dispatcher
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}
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/// Update the query pipeline incrementally, avoiding a complete rebuild of its
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/// internal data-structure.
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pub fn update_incremental(
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&mut self,
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colliders: &ColliderSet,
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modified_colliders: &[ColliderHandle],
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removed_colliders: &[ColliderHandle],
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refit_and_rebalance: bool,
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) {
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// We remove first. This is needed to avoid the ABA problem: if a collider was removed
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// and another added right after with the same handle index, we can remove first, and
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// then update the new one (but only if its actually exists, to address the case where
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// a collider was added/modified and then removed during the same frame).
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for removed in removed_colliders {
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self.qbvh.remove(*removed);
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}
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for modified in modified_colliders {
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// Check that the collider still exists as it may have been removed.
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if colliders.contains(*modified) {
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self.qbvh.pre_update_or_insert(*modified);
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}
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}
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if refit_and_rebalance {
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let _ = self.qbvh.refit(0.0, &mut self.workspace, |handle| {
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colliders[*handle].compute_aabb()
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});
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self.qbvh.rebalance(0.0, &mut self.workspace);
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}
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}
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/// Update the acceleration structure on the query pipeline.
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///
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/// Uses [`generators::CurrentAabb`] to update.
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pub fn update(&mut self, colliders: &ColliderSet) {
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self.update_with_generator(generators::CurrentAabb { colliders })
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}
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/// Update the acceleration structure on the query pipeline using a custom collider bounding
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/// volume generator.
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///
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/// See [`generators`] for available generators.
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pub fn update_with_generator(&mut self, mode: impl QbvhDataGenerator<ColliderHandle>) {
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self.qbvh.clear_and_rebuild(mode, self.dilation_factor);
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}
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/// Find the closest intersection between a ray and a set of collider.
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///
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/// # Parameters
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/// * `colliders` - The set of colliders taking part in this pipeline.
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/// * `ray`: the ray to cast.
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/// * `max_toi`: the maximum time-of-impact that can be reported by this cast. This effectively
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/// limits the length of the ray to `ray.dir.norm() * max_toi`. Use `Real::MAX` for an unbounded ray.
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/// * `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if
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/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
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/// even if its starts inside of it.
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/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
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pub fn cast_ray(
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&self,
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bodies: &RigidBodySet,
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colliders: &ColliderSet,
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ray: &Ray,
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max_toi: Real,
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solid: bool,
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filter: QueryFilter,
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) -> Option<(ColliderHandle, Real)> {
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let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
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let mut visitor =
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RayCompositeShapeToiBestFirstVisitor::new(&pipeline_shape, ray, max_toi, solid);
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self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
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}
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||||
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||||
/// Find the closest intersection between a ray and a set of collider.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `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 `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.
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
pub fn cast_ray_and_get_normal(
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&self,
|
||||
bodies: &RigidBodySet,
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colliders: &ColliderSet,
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||||
ray: &Ray,
|
||||
max_toi: Real,
|
||||
solid: bool,
|
||||
filter: QueryFilter,
|
||||
) -> Option<(ColliderHandle, RayIntersection)> {
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||||
let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
|
||||
let mut visitor = RayCompositeShapeToiAndNormalBestFirstVisitor::new(
|
||||
&pipeline_shape,
|
||||
ray,
|
||||
max_toi,
|
||||
solid,
|
||||
);
|
||||
|
||||
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.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `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 `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.
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
/// * `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>(
|
||||
&self,
|
||||
bodies: &'a RigidBodySet,
|
||||
colliders: &'a ColliderSet,
|
||||
ray: &Ray,
|
||||
max_toi: Real,
|
||||
solid: bool,
|
||||
filter: QueryFilter,
|
||||
mut callback: impl FnMut(ColliderHandle, RayIntersection) -> bool,
|
||||
) {
|
||||
let mut leaf_callback = &mut |handle: &ColliderHandle| {
|
||||
if let Some(co) = colliders.get(*handle) {
|
||||
if filter.test(bodies, *handle, co) {
|
||||
if let Some(hit) = co
|
||||
.shape
|
||||
.cast_ray_and_get_normal(&co.pos, ray, max_toi, solid)
|
||||
{
|
||||
return callback(*handle, hit);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
true
|
||||
};
|
||||
|
||||
let mut visitor = RayIntersectionsVisitor::new(ray, max_toi, &mut leaf_callback);
|
||||
self.qbvh.traverse_depth_first(&mut visitor);
|
||||
}
|
||||
|
||||
/// Gets the handle of up to one collider intersecting the given shape.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `shape_pos` - The position of the shape used for the intersection test.
|
||||
/// * `shape` - The shape used for the intersection test.
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
pub fn intersection_with_shape(
|
||||
&self,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
shape_pos: &Isometry<Real>,
|
||||
shape: &dyn Shape,
|
||||
filter: QueryFilter,
|
||||
) -> Option<ColliderHandle> {
|
||||
let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
|
||||
#[allow(deprecated)]
|
||||
// TODO: replace this with IntersectionCompositeShapeShapeVisitor when it
|
||||
// can return the shape part id.
|
||||
let mut visitor =
|
||||
parry::query::details::IntersectionCompositeShapeShapeBestFirstVisitor::new(
|
||||
&*self.query_dispatcher,
|
||||
shape_pos,
|
||||
&pipeline_shape,
|
||||
shape,
|
||||
);
|
||||
|
||||
self.qbvh
|
||||
.traverse_best_first(&mut visitor)
|
||||
.map(|h| (h.1 .0))
|
||||
}
|
||||
|
||||
/// Find the projection of a point on the closest collider.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `point` - The point to project.
|
||||
/// * `solid` - If this is set to `true` then the collider shapes are considered to
|
||||
/// be plain (if the point is located inside of a plain shape, its projection is the point
|
||||
/// 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
|
||||
/// boundary).
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
pub fn project_point(
|
||||
&self,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
point: &Point<Real>,
|
||||
solid: bool,
|
||||
filter: QueryFilter,
|
||||
) -> Option<(ColliderHandle, PointProjection)> {
|
||||
let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
|
||||
let mut visitor =
|
||||
PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid);
|
||||
|
||||
self.qbvh
|
||||
.traverse_best_first(&mut visitor)
|
||||
.map(|h| (h.1 .1, h.1 .0))
|
||||
}
|
||||
|
||||
/// Find all the colliders containing the given point.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `point` - The point used for the containment test.
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
/// * `callback` - A function called with each collider with a shape
|
||||
/// containing the `point`.
|
||||
pub fn intersections_with_point(
|
||||
&self,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
point: &Point<Real>,
|
||||
filter: QueryFilter,
|
||||
mut callback: impl FnMut(ColliderHandle) -> bool,
|
||||
) {
|
||||
let mut leaf_callback = &mut |handle: &ColliderHandle| {
|
||||
if let Some(co) = colliders.get(*handle) {
|
||||
if filter.test(bodies, *handle, co) && co.shape.contains_point(&co.pos, point) {
|
||||
return callback(*handle);
|
||||
}
|
||||
}
|
||||
|
||||
true
|
||||
};
|
||||
|
||||
let mut visitor = PointIntersectionsVisitor::new(point, &mut leaf_callback);
|
||||
|
||||
self.qbvh.traverse_depth_first(&mut visitor);
|
||||
}
|
||||
|
||||
/// Find the projection of a point on the closest collider.
|
||||
///
|
||||
/// The results include the ID of the feature hit by the point.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `point` - The point to project.
|
||||
/// * `solid` - If this is set to `true` then the collider shapes are considered to
|
||||
/// be plain (if the point is located inside of a plain shape, its projection is the point
|
||||
/// 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
|
||||
/// boundary).
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
pub fn project_point_and_get_feature(
|
||||
&self,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
point: &Point<Real>,
|
||||
filter: QueryFilter,
|
||||
) -> Option<(ColliderHandle, PointProjection, FeatureId)> {
|
||||
let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
|
||||
let mut visitor =
|
||||
PointCompositeShapeProjWithFeatureBestFirstVisitor::new(&pipeline_shape, point, false);
|
||||
self.qbvh
|
||||
.traverse_best_first(&mut visitor)
|
||||
.map(|h| (h.1 .1 .0, h.1 .0, h.1 .1 .1))
|
||||
}
|
||||
|
||||
/// Finds all handles of all the colliders with an Aabb intersecting the given Aabb.
|
||||
pub fn colliders_with_aabb_intersecting_aabb(
|
||||
&self,
|
||||
aabb: &Aabb,
|
||||
mut callback: impl FnMut(&ColliderHandle) -> bool,
|
||||
) {
|
||||
let mut visitor = BoundingVolumeIntersectionsVisitor::new(aabb, &mut callback);
|
||||
self.qbvh.traverse_depth_first(&mut visitor);
|
||||
}
|
||||
|
||||
/// Casts a shape at a constant linear velocity and retrieve the first collider it hits.
|
||||
///
|
||||
/// This is similar to ray-casting except that we are casting a whole shape instead of just a
|
||||
/// point (the ray origin). In the resulting `TOI`, witness and normal 1 refer to the world
|
||||
/// collider, and are in world space.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `shape_pos` - The initial position of the shape to cast.
|
||||
/// * `shape_vel` - The constant velocity of the shape to cast (i.e. the cast direction).
|
||||
/// * `shape` - The shape to cast.
|
||||
/// * `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`.
|
||||
/// * `stop_at_penetration` - If set to `false`, the linear shape-cast won’t immediately stop if
|
||||
/// the shape is penetrating another shape at its starting point **and** its trajectory is such
|
||||
/// that it’s on a path to exist that penetration state.
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
pub fn cast_shape(
|
||||
&self,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
shape_pos: &Isometry<Real>,
|
||||
shape_vel: &Vector<Real>,
|
||||
shape: &dyn Shape,
|
||||
options: ShapeCastOptions,
|
||||
filter: QueryFilter,
|
||||
) -> Option<(ColliderHandle, ShapeCastHit)> {
|
||||
let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
|
||||
let mut visitor = TOICompositeShapeShapeBestFirstVisitor::new(
|
||||
&*self.query_dispatcher,
|
||||
shape_pos,
|
||||
shape_vel,
|
||||
&pipeline_shape,
|
||||
shape,
|
||||
options,
|
||||
);
|
||||
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.
|
||||
///
|
||||
/// In the resulting `TOI`, witness and normal 1 refer to the world collider, and are in world
|
||||
/// space.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `shape_motion` - The motion of the shape.
|
||||
/// * `shape` - The shape to cast.
|
||||
/// * `start_time` - The starting time of the interval where the motion takes place.
|
||||
/// * `end_time` - The end time of the interval where the motion takes place.
|
||||
/// * `stop_at_penetration` - If the casted shape starts in a penetration state with any
|
||||
/// 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 with respect to 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.
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
pub fn nonlinear_cast_shape(
|
||||
&self,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
shape_motion: &NonlinearRigidMotion,
|
||||
shape: &dyn Shape,
|
||||
start_time: Real,
|
||||
end_time: Real,
|
||||
stop_at_penetration: bool,
|
||||
filter: QueryFilter,
|
||||
) -> Option<(ColliderHandle, ShapeCastHit)> {
|
||||
let pipeline_shape = self.as_composite_shape(bodies, colliders, filter);
|
||||
let pipeline_motion = NonlinearRigidMotion::identity();
|
||||
let mut visitor = NonlinearTOICompositeShapeShapeBestFirstVisitor::new(
|
||||
&*self.query_dispatcher,
|
||||
&pipeline_motion,
|
||||
&pipeline_shape,
|
||||
shape_motion,
|
||||
shape,
|
||||
start_time,
|
||||
end_time,
|
||||
stop_at_penetration,
|
||||
);
|
||||
self.qbvh.traverse_best_first(&mut visitor).map(|h| h.1)
|
||||
}
|
||||
|
||||
/// Retrieve all the colliders intersecting the given shape.
|
||||
///
|
||||
/// # Parameters
|
||||
/// * `colliders` - The set of colliders taking part in this pipeline.
|
||||
/// * `shapePos` - The position of the shape to test.
|
||||
/// * `shapeRot` - The orientation of the shape to test.
|
||||
/// * `shape` - The shape to test.
|
||||
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
|
||||
/// * `callback` - A function called with the handles of each collider intersecting the `shape`.
|
||||
pub fn intersections_with_shape(
|
||||
&self,
|
||||
bodies: &RigidBodySet,
|
||||
colliders: &ColliderSet,
|
||||
shape_pos: &Isometry<Real>,
|
||||
shape: &dyn Shape,
|
||||
filter: QueryFilter,
|
||||
mut callback: impl FnMut(ColliderHandle) -> bool,
|
||||
) {
|
||||
let dispatcher = &*self.query_dispatcher;
|
||||
let inv_shape_pos = shape_pos.inverse();
|
||||
|
||||
let mut leaf_callback = &mut |handle: &ColliderHandle| {
|
||||
if let Some(co) = colliders.get(*handle) {
|
||||
if filter.test(bodies, *handle, co) {
|
||||
let pos12 = inv_shape_pos * co.pos.as_ref();
|
||||
|
||||
if dispatcher.intersection_test(&pos12, shape, &*co.shape) == Ok(true) {
|
||||
return callback(*handle);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
true
|
||||
};
|
||||
|
||||
let shape_aabb = shape.compute_aabb(shape_pos);
|
||||
let mut visitor = BoundingVolumeIntersectionsVisitor::new(&shape_aabb, &mut leaf_callback);
|
||||
|
||||
self.qbvh.traverse_depth_first(&mut visitor);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user