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-rw-r--r--src/pipeline/collision_pipeline.rs28
-rw-r--r--src/pipeline/mod.rs2
-rw-r--r--src/pipeline/physics_pipeline.rs176
-rw-r--r--src/pipeline/query_pipeline.rs113
4 files changed, 210 insertions, 109 deletions
diff --git a/src/pipeline/collision_pipeline.rs b/src/pipeline/collision_pipeline.rs
index 0184295..5a19e52 100644
--- a/src/pipeline/collision_pipeline.rs
+++ b/src/pipeline/collision_pipeline.rs
@@ -1,6 +1,6 @@
//! Physics pipeline structures.
-use crate::dynamics::{JointSet, RigidBody, RigidBodyHandle, RigidBodySet};
+use crate::dynamics::{JointSet, RigidBodySet};
use crate::geometry::{BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, NarrowPhase};
use crate::pipeline::EventHandler;
@@ -50,7 +50,7 @@ impl CollisionPipeline {
self.broad_phase_events.clear();
broad_phase.find_pairs(&mut self.broad_phase_events);
- narrow_phase.register_pairs(colliders, &self.broad_phase_events, events);
+ narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
narrow_phase.compute_contacts(prediction_distance, bodies, colliders, events);
narrow_phase.compute_proximities(prediction_distance, bodies, colliders, events);
@@ -84,28 +84,4 @@ impl CollisionPipeline {
bodies.modified_inactive_set.clear();
}
-
- /// Remove a rigid-body and all its associated data.
- pub fn remove_rigid_body(
- &mut self,
- handle: RigidBodyHandle,
- broad_phase: &mut BroadPhase,
- narrow_phase: &mut NarrowPhase,
- bodies: &mut RigidBodySet,
- colliders: &mut ColliderSet,
- ) -> Option<RigidBody> {
- // Remove the body.
- let body = bodies.remove_internal(handle)?;
-
- // Remove this rigid-body from the broad-phase and narrow-phase.
- broad_phase.remove_colliders(&body.colliders, colliders);
- narrow_phase.remove_colliders(&body.colliders, colliders, bodies);
-
- // Remove all colliders attached to this body.
- for collider in &body.colliders {
- colliders.remove_internal(*collider);
- }
-
- Some(body)
- }
}
diff --git a/src/pipeline/mod.rs b/src/pipeline/mod.rs
index 6298d18..287de9d 100644
--- a/src/pipeline/mod.rs
+++ b/src/pipeline/mod.rs
@@ -3,7 +3,9 @@
pub use collision_pipeline::CollisionPipeline;
pub use event_handler::{ChannelEventCollector, EventHandler};
pub use physics_pipeline::PhysicsPipeline;
+pub use query_pipeline::QueryPipeline;
mod collision_pipeline;
mod event_handler;
mod physics_pipeline;
+mod query_pipeline;
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 8449477..47fd260 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -3,12 +3,11 @@
use crate::counters::Counters;
#[cfg(not(feature = "parallel"))]
use crate::dynamics::IslandSolver;
-use crate::dynamics::{IntegrationParameters, JointSet, RigidBody, RigidBodyHandle, RigidBodySet};
+use crate::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
#[cfg(feature = "parallel")]
use crate::dynamics::{JointGraphEdge, ParallelIslandSolver as IslandSolver};
use crate::geometry::{
- BroadPhase, BroadPhasePairEvent, Collider, ColliderHandle, ColliderPair, ColliderSet,
- ContactManifoldIndex, NarrowPhase,
+ BroadPhase, BroadPhasePairEvent, ColliderPair, ColliderSet, ContactManifoldIndex, NarrowPhase,
};
use crate::math::Vector;
use crate::pipeline::EventHandler;
@@ -71,10 +70,20 @@ impl PhysicsPipeline {
joints: &mut JointSet,
events: &dyn EventHandler,
) {
- // println!("Step");
self.counters.step_started();
+ broad_phase.maintain(colliders);
+ narrow_phase.maintain(colliders, bodies);
bodies.maintain_active_set();
+ // Update kinematic bodies velocities.
+ // TODO: what is the best place for this? It should at least be
+ // located before the island computation because we test the velocity
+ // there to determine if this kinematic body should wake-up dynamic
+ // bodies it is touching.
+ bodies.foreach_active_kinematic_body_mut_internal(|_, body| {
+ body.compute_velocity_from_predicted_position(integration_parameters.inv_dt());
+ });
+
self.counters.stages.collision_detection_time.start();
self.counters.cd.broad_phase_time.start();
self.broadphase_collider_pairs.clear();
@@ -91,7 +100,7 @@ impl PhysicsPipeline {
broad_phase.find_pairs(&mut self.broad_phase_events);
// println!("Find pairs time: {}", instant::now() - t);
- narrow_phase.register_pairs(colliders, &self.broad_phase_events, events);
+ narrow_phase.register_pairs(colliders, bodies, &self.broad_phase_events, events);
self.counters.cd.broad_phase_time.pause();
// println!("Num contact pairs: {}", pairs.len());
@@ -122,11 +131,6 @@ impl PhysicsPipeline {
);
self.counters.stages.island_construction_time.pause();
- // Update kinematic bodies velocities.
- bodies.foreach_active_kinematic_body_mut_internal(|_, body| {
- body.compute_velocity_from_predicted_position(integration_parameters.inv_dt());
- });
-
if self.manifold_indices.len() < bodies.num_islands() {
self.manifold_indices
.resize(bodies.num_islands(), Vec::new());
@@ -245,64 +249,47 @@ impl PhysicsPipeline {
bodies.modified_inactive_set.clear();
self.counters.step_completed();
}
-
- /// Remove a collider and all its associated data.
- pub fn remove_collider(
- &mut self,
- handle: ColliderHandle,
- broad_phase: &mut BroadPhase,
- narrow_phase: &mut NarrowPhase,
- bodies: &mut RigidBodySet,
- colliders: &mut ColliderSet,
- ) -> Option<Collider> {
- broad_phase.remove_colliders(&[handle], colliders);
- narrow_phase.remove_colliders(&[handle], colliders, bodies);
- let collider = colliders.remove_internal(handle)?;
-
- if let Some(parent) = bodies.get_mut_internal(collider.parent) {
- parent.remove_collider_internal(handle, &collider);
- bodies.wake_up(collider.parent);
- }
-
- Some(collider)
- }
-
- /// Remove a rigid-body and all its associated data.
- pub fn remove_rigid_body(
- &mut self,
- handle: RigidBodyHandle,
- broad_phase: &mut BroadPhase,
- narrow_phase: &mut NarrowPhase,
- bodies: &mut RigidBodySet,
- colliders: &mut ColliderSet,
- joints: &mut JointSet,
- ) -> Option<RigidBody> {
- // Remove the body.
- let body = bodies.remove_internal(handle)?;
-
- // Remove this rigid-body from the broad-phase and narrow-phase.
- broad_phase.remove_colliders(&body.colliders, colliders);
- narrow_phase.remove_colliders(&body.colliders, colliders, bodies);
-
- // Remove all joints attached to this body.
- joints.remove_rigid_body(body.joint_graph_index, bodies);
-
- // Remove all colliders attached to this body.
- for collider in &body.colliders {
- colliders.remove_internal(*collider);
- }
-
- Some(body)
- }
}
#[cfg(test)]
mod test {
- use crate::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
- use crate::geometry::{BroadPhase, ColliderSet, NarrowPhase};
+ use crate::dynamics::{IntegrationParameters, JointSet, RigidBodyBuilder, RigidBodySet};
+ use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
+ use crate::math::Vector;
use crate::pipeline::PhysicsPipeline;
#[test]
+ fn kinematic_and_static_contact_crash() {
+ let mut colliders = ColliderSet::new();
+ let mut joints = JointSet::new();
+ let mut pipeline = PhysicsPipeline::new();
+ let mut bf = BroadPhase::new();
+ let mut nf = NarrowPhase::new();
+ let mut bodies = RigidBodySet::new();
+
+ let rb = RigidBodyBuilder::new_static().build();
+ let h1 = bodies.insert(rb.clone());
+ let co = ColliderBuilder::ball(10.0).build();
+ colliders.insert(co.clone(), h1, &mut bodies);
+
+ // The same but with a kinematic body.
+ let rb = RigidBodyBuilder::new_kinematic().build();
+ let h2 = bodies.insert(rb.clone());
+ colliders.insert(co, h2, &mut bodies);
+
+ pipeline.step(
+ &Vector::zeros(),
+ &IntegrationParameters::default(),
+ &mut bf,
+ &mut nf,
+ &mut bodies,
+ &mut colliders,
+ &mut joints,
+ &(),
+ );
+ }
+
+ #[test]
fn rigid_body_removal_before_step() {
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
@@ -310,42 +297,65 @@ mod test {
let mut bf = BroadPhase::new();
let mut nf = NarrowPhase::new();
- let mut set = RigidBodySet::new();
- let rb = RigidBodyBuilder::new_dynamic().build();
+ let mut bodies = RigidBodySet::new();
// Check that removing the body right after inserting it works.
- let h1 = set.insert(rb.clone());
- pipeline.remove_rigid_body(h1, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
+ // We add two dynamic bodies, one kinematic body and one static body before removing
+ // them. This include a non-regression test where deleting a kimenatic body crashes.
+ let rb = RigidBodyBuilder::new_dynamic().build();
+ let h1 = bodies.insert(rb.clone());
+ let h2 = bodies.insert(rb.clone());
+
+ // The same but with a kinematic body.
+ let rb = RigidBodyBuilder::new_kinematic().build();
+ let h3 = bodies.insert(rb.clone());
+
+ // The same but with a static body.
+ let rb = RigidBodyBuilder::new_static().build();
+ let h4 = bodies.insert(rb.clone());
+
+ let to_delete = [h1, h2, h3, h4];
+ for h in &to_delete {
+ bodies.remove(*h, &mut colliders, &mut joints);
+ }
+
+ pipeline.step(
+ &Vector::zeros(),
+ &IntegrationParameters::default(),
+ &mut bf,
+ &mut nf,
+ &mut bodies,
+ &mut colliders,
+ &mut joints,
+ &(),
+ );
}
#[test]
fn rigid_body_removal_snapshot_handle_determinism() {
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
- let mut pipeline = PhysicsPipeline::new();
- let mut bf = BroadPhase::new();
- let mut nf = NarrowPhase::new();
- let mut set = RigidBodySet::new();
+ let mut bodies = RigidBodySet::new();
let rb = RigidBodyBuilder::new_dynamic().build();
- let h1 = set.insert(rb.clone());
- let h2 = set.insert(rb.clone());
- let h3 = set.insert(rb.clone());
+ let h1 = bodies.insert(rb.clone());
+ let h2 = bodies.insert(rb.clone());
+ let h3 = bodies.insert(rb.clone());
- pipeline.remove_rigid_body(h1, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
- pipeline.remove_rigid_body(h3, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
- pipeline.remove_rigid_body(h2, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
+ bodies.remove(h1, &mut colliders, &mut joints);
+ bodies.remove(h3, &mut colliders, &mut joints);
+ bodies.remove(h2, &mut colliders, &mut joints);
- let ser_set = bincode::serialize(&set).unwrap();
- let mut set2: RigidBodySet = bincode::deserialize(&ser_set).unwrap();
+ let ser_bodies = bincode::serialize(&bodies).unwrap();
+ let mut bodies2: RigidBodySet = bincode::deserialize(&ser_bodies).unwrap();
- let h1a = set.insert(rb.clone());
- let h2a = set.insert(rb.clone());
- let h3a = set.insert(rb.clone());
+ let h1a = bodies.insert(rb.clone());
+ let h2a = bodies.insert(rb.clone());
+ let h3a = bodies.insert(rb.clone());
- let h1b = set2.insert(rb.clone());
- let h2b = set2.insert(rb.clone());
- let h3b = set2.insert(rb.clone());
+ let h1b = bodies2.insert(rb.clone());
+ let h2b = bodies2.insert(rb.clone());
+ let h3b = bodies2.insert(rb.clone());
assert_eq!(h1a, h1b);
assert_eq!(h2a, h2b);
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs
new file mode 100644
index 0000000..32f59fc
--- /dev/null
+++ b/src/pipeline/query_pipeline.rs
@@ -0,0 +1,113 @@
+use crate::dynamics::RigidBodySet;
+use crate::geometry::{Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, WQuadtree};
+
+/// A pipeline for performing queries on all the colliders of a scene.
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
+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,
+ ) -> 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 let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) {
+ 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,
+ 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 let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) {
+ if !callback(handle, collider, inter) {
+ return;
+ }
+ }
+ }
+ }
+}
generated by cgit (git 2.34.1) at 2026-02-06 23:58:41 +0000