448 lines
17 KiB
Rust
448 lines
17 KiB
Rust
use crate::dynamics::RigidBodySet;
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use crate::geometry::{
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Collider, ColliderHandle, ColliderSet, InteractionGroups, PointProjection, Ray,
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RayIntersection, SimdQuadTree,
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};
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use crate::math::{Isometry, Point, Real, Vector};
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use crate::parry::motion::RigidMotion;
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use parry::query::details::{
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IntersectionCompositeShapeShapeBestFirstVisitor,
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NonlinearTOICompositeShapeShapeBestFirstVisitor, PointCompositeShapeProjBestFirstVisitor,
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PointCompositeShapeProjWithFeatureBestFirstVisitor,
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RayCompositeShapeToiAndNormalBestFirstVisitor, RayCompositeShapeToiBestFirstVisitor,
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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, QueryDispatcher, TOI};
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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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quadtree: SimdQuadTree<ColliderHandle>,
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tree_built: bool,
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dilation_factor: Real,
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}
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struct QueryPipelineAsCompositeShape<'a> {
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query_pipeline: &'a QueryPipeline,
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colliders: &'a ColliderSet,
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groups: InteractionGroups,
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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 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(Option<&Isometry<Real>>, &Self::PartShape),
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) {
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if let Some(collider) = self.colliders.get(shape_id) {
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if collider.collision_groups.test(self.groups) {
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f(Some(collider.position()), collider.shape())
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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),
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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_quadtree(&self) -> &SimdQuadTree<ColliderHandle> {
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&self.query_pipeline.quadtree
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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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colliders: &'a ColliderSet,
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groups: InteractionGroups,
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) -> QueryPipelineAsCompositeShape<'a> {
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QueryPipelineAsCompositeShape {
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query_pipeline: self,
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colliders,
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groups,
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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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/// awary 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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quadtree: SimdQuadTree::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(
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|handle| colliders[*handle].compute_aabb(),
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self.dilation_factor,
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);
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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 `Real::MAX` for an unbounded ray.
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pub fn cast_ray(
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&self,
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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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groups: InteractionGroups,
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) -> Option<(ColliderHandle, Real)> {
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let pipeline_shape = self.as_composite_shape(colliders, groups);
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let mut visitor =
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RayCompositeShapeToiBestFirstVisitor::new(&pipeline_shape, ray, max_toi, solid);
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self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
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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 `Real::MAX` for an unbounded ray.
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pub fn cast_ray_and_get_normal(
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&self,
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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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groups: InteractionGroups,
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) -> Option<(ColliderHandle, RayIntersection)> {
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let pipeline_shape = self.as_composite_shape(colliders, groups);
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let mut visitor = RayCompositeShapeToiAndNormalBestFirstVisitor::new(
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&pipeline_shape,
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ray,
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max_toi,
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solid,
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);
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self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
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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 `Real::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, ignore any further raycast.
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pub fn intersections_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: Real,
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solid: bool,
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groups: InteractionGroups,
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mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool,
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) {
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let mut leaf_callback = &mut |handle: &ColliderHandle| {
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if let Some(coll) = colliders.get(*handle) {
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if coll.collision_groups.test(groups) {
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if let Some(hit) =
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coll.shape()
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.cast_ray_and_get_normal(coll.position(), ray, max_toi, solid)
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{
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return callback(*handle, coll, hit);
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}
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}
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}
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true
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};
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let mut visitor = RayIntersectionsVisitor::new(ray, max_toi, &mut leaf_callback);
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self.quadtree.traverse_depth_first(&mut visitor);
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}
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/// Gets the handle of up to one collider intersecting the given shape.
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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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/// * `shape_pos` - The position of the shape used for the intersection test.
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/// * `shape` - The shape used for the intersection test.
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/// * `groups` - The bit groups and filter associated to the ray, in order to only
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/// hit the colliders with collision groups compatible with the ray's group.
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pub fn intersection_with_shape(
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&self,
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colliders: &ColliderSet,
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shape_pos: &Isometry<Real>,
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shape: &dyn Shape,
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groups: InteractionGroups,
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) -> Option<ColliderHandle> {
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let pipeline_shape = self.as_composite_shape(colliders, groups);
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let mut visitor = IntersectionCompositeShapeShapeBestFirstVisitor::new(
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&*self.query_dispatcher,
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shape_pos,
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&pipeline_shape,
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shape,
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);
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self.quadtree
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.traverse_best_first(&mut visitor)
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.map(|h| (h.1 .0))
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}
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/// Find the projection of a point on the closest 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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/// * `point` - The point to project.
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/// * `solid` - If this is set to `true` then the collider shapes are considered to
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/// be plain (if the point is located inside of a plain shape, its projection is the point
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/// itself). If it is set to `false` the collider shapes are considered to be hollow
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/// (if the point is located inside of an hollow shape, it is projected on the shape's
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/// boundary).
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/// * `groups` - The bit groups and filter associated to the point to project, in order to only
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/// project on colliders with collision groups compatible with the ray's group.
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pub fn project_point(
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&self,
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colliders: &ColliderSet,
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point: &Point<Real>,
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solid: bool,
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groups: InteractionGroups,
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) -> Option<(ColliderHandle, PointProjection)> {
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let pipeline_shape = self.as_composite_shape(colliders, groups);
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let mut visitor =
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PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid);
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self.quadtree
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.traverse_best_first(&mut visitor)
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.map(|h| (h.1 .1, h.1 .0))
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}
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/// Find all the colliders containing the given point.
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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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/// * `point` - The point used for the containment test.
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/// * `groups` - The bit groups and filter associated to the point to test, in order to only
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/// test on colliders with collision groups compatible with the ray's group.
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/// * `callback` - A function called with each collider with a shape
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/// containing the `point`.
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pub fn intersections_with_point<'a>(
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&self,
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colliders: &'a ColliderSet,
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point: &Point<Real>,
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groups: InteractionGroups,
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mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool,
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) {
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let mut leaf_callback = &mut |handle: &ColliderHandle| {
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if let Some(coll) = colliders.get(*handle) {
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if coll.collision_groups.test(groups)
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&& coll.shape().contains_point(coll.position(), point)
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{
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return callback(*handle, coll);
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}
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}
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true
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};
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let mut visitor = PointIntersectionsVisitor::new(point, &mut leaf_callback);
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self.quadtree.traverse_depth_first(&mut visitor);
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}
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/// Find the projection of a point on the closest collider.
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///
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/// The results include the ID of the feature hit by the point.
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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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/// * `point` - The point to project.
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/// * `solid` - If this is set to `true` then the collider shapes are considered to
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/// be plain (if the point is located inside of a plain shape, its projection is the point
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/// itself). If it is set to `false` the collider shapes are considered to be hollow
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/// (if the point is located inside of an hollow shape, it is projected on the shape's
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/// boundary).
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/// * `groups` - The bit groups and filter associated to the point to project, in order to only
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/// project on colliders with collision groups compatible with the ray's group.
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pub fn project_point_and_get_feature(
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&self,
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colliders: &ColliderSet,
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point: &Point<Real>,
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groups: InteractionGroups,
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) -> Option<(ColliderHandle, PointProjection, FeatureId)> {
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let pipeline_shape = self.as_composite_shape(colliders, groups);
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let mut visitor =
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PointCompositeShapeProjWithFeatureBestFirstVisitor::new(&pipeline_shape, point, false);
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self.quadtree
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.traverse_best_first(&mut visitor)
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.map(|h| (h.1 .1 .0, h.1 .0, h.1 .1 .1))
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}
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/// Casts a shape at a constant linear velocity and retrieve the first collider it hits.
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///
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/// This is similar to ray-casting except that we are casting a whole shape instead of
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/// just a point (the ray origin).
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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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/// * `shape_pos` - The initial position of the shape to cast.
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/// * `shape_vel` - The constant velocity of the shape to cast (i.e. the cast direction).
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/// * `shape` - The shape 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 distance traveled by the shape to `shapeVel.norm() * maxToi`.
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/// * `groups` - The bit groups and filter associated to the shape to cast, in order to only
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/// test on colliders with collision groups compatible with this group.
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pub fn cast_shape<'a>(
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&self,
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colliders: &'a ColliderSet,
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shape_pos: &Isometry<Real>,
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shape_vel: &Vector<Real>,
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shape: &dyn Shape,
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max_toi: Real,
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target_distance: Real,
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groups: InteractionGroups,
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) -> Option<(ColliderHandle, TOI)> {
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let pipeline_shape = self.as_composite_shape(colliders, groups);
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let mut visitor = TOICompositeShapeShapeBestFirstVisitor::new(
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&*self.query_dispatcher,
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shape_pos,
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shape_vel,
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&pipeline_shape,
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shape,
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max_toi,
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target_distance,
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);
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self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
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}
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/// Casts a shape with an arbitrary continuous motion and retrieve the first collider it hits.
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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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/// * `shape_motion` - The motion of the shape.
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/// * `shape` - The shape 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 distance traveled by the shape to `shapeVel.norm() * maxToi`.
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/// * `groups` - The bit groups and filter associated to the shape to cast, in order to only
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/// test on colliders with collision groups compatible with this group.
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pub fn nonlinear_cast_shape(
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&self,
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colliders: &ColliderSet,
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shape_motion: &dyn RigidMotion,
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shape: &dyn Shape,
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max_toi: Real,
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target_distance: Real,
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groups: InteractionGroups,
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) -> Option<(ColliderHandle, TOI)> {
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let pipeline_shape = self.as_composite_shape(colliders, groups);
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let mut visitor = NonlinearTOICompositeShapeShapeBestFirstVisitor::new(
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&*self.query_dispatcher,
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shape_motion,
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&pipeline_shape,
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shape,
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max_toi,
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target_distance,
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);
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self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
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}
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/// Retrieve all the colliders intersecting the given shape.
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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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/// * `shapePos` - The position of the shape to test.
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/// * `shapeRot` - The orientation of the shape to test.
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/// * `shape` - The shape to test.
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/// * `groups` - The bit groups and filter associated to the shape to test, in order to only
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/// test on colliders with collision groups compatible with this group.
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/// * `callback` - A function called with the handles of each collider intersecting the `shape`.
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pub fn intersections_with_shape<'a>(
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&self,
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colliders: &'a ColliderSet,
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shape_pos: &Isometry<Real>,
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shape: &dyn Shape,
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groups: InteractionGroups,
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mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool,
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) {
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let dispatcher = &*self.query_dispatcher;
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let inv_shape_pos = shape_pos.inverse();
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let mut leaf_callback = &mut |handle: &ColliderHandle| {
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if let Some(coll) = colliders.get(*handle) {
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if coll.collision_groups.test(groups) {
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let pos12 = inv_shape_pos * coll.position();
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if dispatcher.intersection_test(&pos12, shape, coll.shape()) == Ok(true) {
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return callback(*handle, coll);
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}
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}
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}
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true
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};
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let shape_aabb = shape.compute_aabb(shape_pos);
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let mut visitor = BoundingVolumeIntersectionsVisitor::new(&shape_aabb, &mut leaf_callback);
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self.quadtree.traverse_depth_first(&mut visitor);
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}
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}
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