diff options
Diffstat (limited to 'src/pipeline')
| -rw-r--r-- | src/pipeline/query_pipeline.rs | 26 |
1 files changed, 18 insertions, 8 deletions
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs index 5b2cc88..5451cfa 100644 --- a/src/pipeline/query_pipeline.rs +++ b/src/pipeline/query_pipeline.rs @@ -38,10 +38,20 @@ struct QueryPipelineAsCompositeShape<'a> { groups: InteractionGroups, } +/// Indicates how the colliders position should be taken into account when +/// updating the query pipeline. pub enum QueryPipelineMode { + /// The `Collider::position` is taken into account. CurrentPosition, + /// The `RigidBody::next_position * Collider::position_wrt_parent` is taken into account for + /// the colliders positions. SweepTestWithNextPosition, - SweepTestWithPredictedPosition { dt: Real }, + /// The `RigidBody::predict_position_using_velocity_and_forces * Collider::position_wrt_parent` + /// is taken into account for the colliders position. + SweepTestWithPredictedPosition { + /// The time used to integrate the rigid-body's velocity and acceleration. + dt: Real, + }, } impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> { @@ -137,19 +147,19 @@ impl QueryPipeline { self.quadtree.clear_and_rebuild(data, self.dilation_factor); } QueryPipelineMode::SweepTestWithNextPosition => { - let data = colliders.iter().map(|(h, co)| { + let data = colliders.iter().map(|(h, c)| { let next_position = - bodies[co.parent()].next_position * co.position_wrt_parent(); - (h, co.compute_swept_aabb(&next_position)) + bodies[c.parent()].next_position * c.position_wrt_parent(); + (h, c.compute_swept_aabb(&next_position)) }); self.quadtree.clear_and_rebuild(data, self.dilation_factor); } QueryPipelineMode::SweepTestWithPredictedPosition { dt } => { - let data = colliders.iter().map(|(h, co)| { - let next_position = bodies[co.parent()] + let data = colliders.iter().map(|(h, c)| { + let next_position = bodies[c.parent()] .predict_position_using_velocity_and_forces(dt) - * co.position_wrt_parent(); - (h, co.compute_swept_aabb(&next_position)) + * c.position_wrt_parent(); + (h, c.compute_swept_aabb(&next_position)) }); self.quadtree.clear_and_rebuild(data, self.dilation_factor); } |