114 lines
3.9 KiB
Rust
114 lines
3.9 KiB
Rust
use crate::dynamics::RigidBodySet;
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use crate::geometry::{Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, WQuadtree};
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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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pub struct QueryPipeline {
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quadtree: WQuadtree<ColliderHandle>,
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tree_built: bool,
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dilation_factor: f32,
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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 {
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quadtree: WQuadtree::new(),
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tree_built: false,
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dilation_factor: 0.01,
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}
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}
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/// Update the acceleration structure on the query pipeline.
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pub fn update(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet) {
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if !self.tree_built {
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let data = colliders.iter().map(|(h, c)| (h, c.compute_aabb()));
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self.quadtree.clear_and_rebuild(data, self.dilation_factor);
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// FIXME: uncomment this once we handle insertion/removals properly.
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// self.tree_built = true;
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return;
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}
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for (_, body) in bodies
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.iter_active_dynamic()
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.chain(bodies.iter_active_kinematic())
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{
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for handle in &body.colliders {
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self.quadtree.pre_update(*handle)
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}
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}
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self.quadtree.update(colliders, 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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/// - `position`: the position of this shape.
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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 `f32::MAX` for an unbounded ray.
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pub fn cast_ray<'a>(
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&self,
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colliders: &'a ColliderSet,
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ray: &Ray,
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max_toi: f32,
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) -> Option<(ColliderHandle, &'a Collider, RayIntersection)> {
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// TODO: avoid allocation?
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let mut inter = Vec::new();
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self.quadtree.cast_ray(ray, max_toi, &mut inter);
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let mut best = f32::MAX;
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let mut result = None;
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for handle in inter {
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let collider = &colliders[handle];
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if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) {
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if inter.toi < best {
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best = inter.toi;
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result = Some((handle, collider, inter));
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}
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}
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}
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result
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}
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/// Find the all intersections between a ray and a set of collider and passes them to a callback.
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///
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/// # Parameters
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/// - `position`: the position of this shape.
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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 `f32::MAX` for an unbounded ray.
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/// - `callback`: function executed on each collider for which a ray intersection has been found.
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/// There is no guarantees on the order the results will be yielded. If this callback returns `false`,
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/// this method will exit early, ignory any further raycast.
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pub fn interferences_with_ray<'a>(
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&self,
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colliders: &'a ColliderSet,
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ray: &Ray,
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max_toi: f32,
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mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool,
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) {
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// TODO: avoid allocation?
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let mut inter = Vec::new();
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self.quadtree.cast_ray(ray, max_toi, &mut inter);
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for handle in inter {
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let collider = &colliders[handle];
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if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) {
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if !callback(handle, collider, inter) {
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return;
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}
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}
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}
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}
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}
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