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Start implementing ray-casting.

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This adds a QueryPipeline structure responsible for scene queries.
Currently this structure is able to perform a brute-force ray-cast.
This commit also includes the beginning of implementation of a SIMD-based acceleration structure which will be used for these scene queries in the future.
This commit is contained in:
Sébastien Crozet
2020-09-08 21:18:17 +02:00
committed by Crozet Sébastien
parent 99f28ba4b4
commit 3c85a6ac41
10 changed files with 528 additions and 42 deletions
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6
src/geometry/mod.rs
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@@ -36,6 +36,10 @@ pub type AABB = ncollide::bounding_volume::AABB<f32>;
pub type ContactEvent = ncollide::pipeline::ContactEvent<ColliderHandle>;
/// Event triggered when a sensor collider starts or stop being in proximity with another collider (sensor or not).
pub type ProximityEvent = ncollide::pipeline::ProximityEvent<ColliderHandle>;
/// A ray that can be cast against colliders.
pub type Ray = ncollide::query::Ray<f32>;
/// The intersection between a ray and a collider.
pub type RayIntersection = ncollide::query::RayIntersection<f32>;
#[cfg(feature = "simd-is-enabled")]
pub(crate) use self::ball::WBall;
@@ -48,7 +52,6 @@ pub(crate) use self::contact_generator::{clip_segments, clip_segments_with_norma
pub(crate) use self::narrow_phase::ContactManifoldIndex;
#[cfg(feature = "dim3")]
pub(crate) use self::polyhedron_feature3d::PolyhedronFace;
#[cfg(feature = "simd-is-enabled")]
pub(crate) use self::waabb::WAABB;
//pub(crate) use self::z_order::z_cmp_floats;
@@ -75,6 +78,5 @@ mod proximity_detector;
pub(crate) mod sat;
pub(crate) mod triangle;
mod trimesh;
#[cfg(feature = "simd-is-enabled")]
mod waabb;
//mod z_order;