diff options
| -rw-r--r-- | src/pipeline/query_pipeline.rs | 43 | ||||
| -rw-r--r-- | src_testbed/testbed.rs | 13 |
2 files changed, 35 insertions, 21 deletions
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs index 03103be..00d4396 100644 --- a/src/pipeline/query_pipeline.rs +++ b/src/pipeline/query_pipeline.rs @@ -1,5 +1,7 @@ use crate::dynamics::RigidBodySet; -use crate::geometry::{Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, WQuadtree}; +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))] @@ -59,6 +61,7 @@ impl QueryPipeline { colliders: &'a ColliderSet, ray: &Ray, max_toi: f32, + groups: InteractionGroups, ) -> Option<(ColliderHandle, &'a Collider, RayIntersection)> { // TODO: avoid allocation? let mut inter = Vec::new(); @@ -69,14 +72,17 @@ impl QueryPipeline { for handle in inter { let collider = &colliders[handle]; - 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)); + 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)); + } } } } @@ -99,6 +105,7 @@ impl QueryPipeline { colliders: &'a ColliderSet, ray: &Ray, max_toi: f32, + groups: InteractionGroups, mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool, ) { // TODO: avoid allocation? @@ -107,13 +114,17 @@ impl QueryPipeline { for handle in inter { let collider = &colliders[handle]; - if let Some(inter) = - collider - .shape() - .toi_and_normal_with_ray(collider.position(), ray, max_toi, true) - { - if !callback(handle, collider, inter) { - return; + + 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; + } } } } diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 3a1b938..456b894 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -24,7 +24,8 @@ use rapier::dynamics::{ #[cfg(feature = "dim3")] use rapier::geometry::Ray; use rapier::geometry::{ - BroadPhase, ColliderHandle, ColliderSet, ContactEvent, NarrowPhase, ProximityEvent, + BroadPhase, ColliderHandle, ColliderSet, ContactEvent, InteractionGroups, NarrowPhase, + ProximityEvent, }; use rapier::math::Vector; use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline}; @@ -1188,10 +1189,12 @@ impl Testbed { .camera() .unproject(&self.cursor_pos, &na::convert(size)); let ray = Ray::new(pos, dir); - let hit = self - .physics - .query_pipeline - .cast_ray(&self.physics.colliders, &ray, f32::MAX); + let hit = self.physics.query_pipeline.cast_ray( + &self.physics.colliders, + &ray, + f32::MAX, + InteractionGroups::all(), + ); if let Some((_, collider, _)) = hit { if self.physics.bodies[collider.parent()].is_dynamic() { |