111 lines
4.0 KiB
Rust
111 lines
4.0 KiB
Rust
//! Structs implementing [`QbvhDataGenerator<ColliderHandle>`] to be used with [`QueryPipeline::update_with_generator`].
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use parry::partitioning::QbvhDataGenerator;
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use crate::math::Real;
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use crate::prelude::{Aabb, ColliderHandle, ColliderSet, RigidBodySet};
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#[cfg(doc)]
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use crate::{
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dynamics::{IntegrationParameters, RigidBody, RigidBodyPosition},
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pipeline::QueryPipeline,
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prelude::Collider,
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};
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/// Generates collider AABBs based on the union of their current AABB and the AABB predicted
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/// from the velocity and forces of their parent rigid-body.
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///
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/// The main purpose of this struct is to be passed as a parameter to
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/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
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///
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/// The predicted position is calculated as
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/// `RigidBody::predict_position_using_velocity_and_forces * Collider::position_wrt_parent`.
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pub struct SweptAabbWithPredictedPosition<'a> {
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/// The rigid bodies of your simulation.
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pub bodies: &'a RigidBodySet,
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/// The colliders of your simulation.
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pub colliders: &'a ColliderSet,
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/// The delta time to compute predicted position.
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///
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/// You probably want to set it to [`IntegrationParameters::dt`].
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pub dt: Real,
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}
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impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithPredictedPosition<'a> {
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fn size_hint(&self) -> usize {
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self.colliders.len()
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}
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#[inline(always)]
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fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
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for (h, co) in self.colliders.iter_enabled() {
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if let Some(co_parent) = co.parent {
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let rb = &self.bodies[co_parent.handle];
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let predicted_pos = rb
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.pos
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.integrate_forces_and_velocities(self.dt, &rb.forces, &rb.vels, &rb.mprops);
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let next_position = predicted_pos * co_parent.pos_wrt_parent;
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f(h, co.shape.compute_swept_aabb(&co.pos, &next_position))
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} else {
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f(h, co.shape.compute_aabb(&co.pos))
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}
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}
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}
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}
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/// Generates collider AABBs based on the union of their AABB at their current [`Collider::position`]
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/// and the AABB predicted from their parent’s [`RigidBody::next_position`].
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///
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/// The main purpose of this struct is to be passed as a parameter to
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/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
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///
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/// The predicted position is calculated as
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/// `RigidBody::next_position * Collider::position_wrt_parent`.
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pub struct SweptAabbWithNextPosition<'a> {
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/// The rigid bodies of your simulation.
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pub bodies: &'a RigidBodySet,
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/// The colliders of your simulation.
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pub colliders: &'a ColliderSet,
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}
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impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithNextPosition<'a> {
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fn size_hint(&self) -> usize {
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self.colliders.len()
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}
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#[inline(always)]
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fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
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for (h, co) in self.colliders.iter_enabled() {
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if let Some(co_parent) = co.parent {
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let rb_next_pos = &self.bodies[co_parent.handle].pos.next_position;
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let next_position = rb_next_pos * co_parent.pos_wrt_parent;
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f(h, co.shape.compute_swept_aabb(&co.pos, &next_position))
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} else {
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f(h, co.shape.compute_aabb(&co.pos))
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}
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}
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}
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}
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/// Generates collider AABBs based on the AABB at their current [`Collider::position`].
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///
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/// The main purpose of this struct is to be passed as a parameter to
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/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
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pub struct CurrentAabb<'a> {
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/// The colliders of your simulation.
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pub colliders: &'a ColliderSet,
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}
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impl<'a> QbvhDataGenerator<ColliderHandle> for CurrentAabb<'a> {
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fn size_hint(&self) -> usize {
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self.colliders.len()
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}
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#[inline(always)]
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fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
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for (h, co) in self.colliders.iter_enabled() {
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f(h, co.shape.compute_aabb(&co.pos))
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}
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}
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}
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