134 lines
4.5 KiB
Rust
134 lines
4.5 KiB
Rust
use crate::dynamics::RigidBodySet;
|
|
use crate::geometry::{
|
|
Collider, ColliderHandle, ColliderSet, InteractionGroups, Ray, RayIntersection, WQuadtree,
|
|
};
|
|
|
|
/// A pipeline for performing queries on all the colliders of a scene.
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
#[derive(Clone)]
|
|
pub struct QueryPipeline {
|
|
quadtree: WQuadtree<ColliderHandle>,
|
|
tree_built: bool,
|
|
dilation_factor: f32,
|
|
}
|
|
|
|
impl Default for QueryPipeline {
|
|
fn default() -> Self {
|
|
Self::new()
|
|
}
|
|
}
|
|
|
|
impl QueryPipeline {
|
|
/// Initializes an empty query pipeline.
|
|
pub fn new() -> Self {
|
|
Self {
|
|
quadtree: WQuadtree::new(),
|
|
tree_built: false,
|
|
dilation_factor: 0.01,
|
|
}
|
|
}
|
|
|
|
/// Update the acceleration structure on the query pipeline.
|
|
pub fn update(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet) {
|
|
if !self.tree_built {
|
|
let data = colliders.iter().map(|(h, c)| (h, c.compute_aabb()));
|
|
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
|
|
// FIXME: uncomment this once we handle insertion/removals properly.
|
|
// self.tree_built = true;
|
|
return;
|
|
}
|
|
|
|
for (_, body) in bodies
|
|
.iter_active_dynamic()
|
|
.chain(bodies.iter_active_kinematic())
|
|
{
|
|
for handle in &body.colliders {
|
|
self.quadtree.pre_update(*handle)
|
|
}
|
|
}
|
|
|
|
self.quadtree.update(colliders, self.dilation_factor);
|
|
}
|
|
|
|
/// Find the closest intersection between a ray and a set of collider.
|
|
///
|
|
/// # Parameters
|
|
/// - `position`: the position of this shape.
|
|
/// - `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 `f32::MAX` for an unbounded ray.
|
|
pub fn cast_ray<'a>(
|
|
&self,
|
|
colliders: &'a ColliderSet,
|
|
ray: &Ray,
|
|
max_toi: f32,
|
|
groups: InteractionGroups,
|
|
) -> Option<(ColliderHandle, &'a Collider, RayIntersection)> {
|
|
// TODO: avoid allocation?
|
|
let mut inter = Vec::new();
|
|
self.quadtree.cast_ray(ray, max_toi, &mut inter);
|
|
|
|
let mut best = f32::MAX;
|
|
let mut result = None;
|
|
|
|
for handle in inter {
|
|
let collider = &colliders[handle];
|
|
if collider.collision_groups.test(groups) {
|
|
if let Some(inter) = collider.shape().toi_and_normal_with_ray(
|
|
collider.position(),
|
|
ray,
|
|
max_toi,
|
|
true,
|
|
) {
|
|
if inter.toi < best {
|
|
best = inter.toi;
|
|
result = Some((handle, collider, inter));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
result
|
|
}
|
|
|
|
/// Find the all intersections between a ray and a set of collider and passes them to a callback.
|
|
///
|
|
/// # Parameters
|
|
/// - `position`: the position of this shape.
|
|
/// - `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 `f32::MAX` for an unbounded ray.
|
|
/// - `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, ignory any further raycast.
|
|
pub fn interferences_with_ray<'a>(
|
|
&self,
|
|
colliders: &'a ColliderSet,
|
|
ray: &Ray,
|
|
max_toi: f32,
|
|
groups: InteractionGroups,
|
|
mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool,
|
|
) {
|
|
// TODO: avoid allocation?
|
|
let mut inter = Vec::new();
|
|
self.quadtree.cast_ray(ray, max_toi, &mut inter);
|
|
|
|
for handle in inter {
|
|
let collider = &colliders[handle];
|
|
|
|
if collider.collision_groups.test(groups) {
|
|
if let Some(inter) = collider.shape().toi_and_normal_with_ray(
|
|
collider.position(),
|
|
ray,
|
|
max_toi,
|
|
true,
|
|
) {
|
|
if !callback(handle, collider, inter) {
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|