diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/broad_phase.rs | 40 | ||||
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/sap_axis.rs | 2 | ||||
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/sap_layer.rs | 16 | ||||
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/sap_proxy.rs | 8 | ||||
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/sap_region.rs | 10 | ||||
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/sap_utils.rs | 16 | ||||
| -rw-r--r-- | src/geometry/collider.rs | 18 | ||||
| -rw-r--r-- | src/geometry/interaction_groups.rs | 14 | ||||
| -rw-r--r-- | src/geometry/mod.rs | 4 | ||||
| -rw-r--r-- | src/pipeline/debug_render_pipeline/debug_render_pipeline.rs | 2 | ||||
| -rw-r--r-- | src/pipeline/debug_render_pipeline/debug_render_style.rs | 2 | ||||
| -rw-r--r-- | src/pipeline/query_pipeline.rs | 20 |
12 files changed, 89 insertions, 63 deletions
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs index 5858b94..915017d 100644 --- a/src/geometry/broad_phase_multi_sap/broad_phase.rs +++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs @@ -17,7 +17,7 @@ use parry::utils::hashmap::HashMap; /// the interactions between far-away objects. This means that objects /// that are very far away will still have some of their endpoints swapped /// within the SAP data-structure. This results in poor scaling because this -/// results in lots of swapping between endpoints of AABBs that won't ever +/// results in lots of swapping between endpoints of Aabbs that won't ever /// actually interact. /// /// The first optimization to address this problem is to use the Multi-SAP @@ -25,7 +25,7 @@ use parry::utils::hashmap::HashMap; /// the spaces into equally-sized subspaces (grid cells). Each subspace, which we call /// a "region" contains an SAP instance (i.e. there SAP axes responsible for /// collecting endpoints and swapping them when they move to detect interaction pairs). -/// Each AABB is inserted in all the regions it intersects. +/// Each Aabb is inserted in all the regions it intersects. /// This prevents the far-away problem because two objects that are far away will /// be located on different regions. So their endpoints will never meet. /// @@ -39,10 +39,10 @@ use parry::utils::hashmap::HashMap; /// replace the grid by a hierarchical grid. A hierarchical grid is composed of /// several layers. And each layer have different region sizes. For example all /// the regions on layer 0 will have the size 1x1x1. All the regions on the layer -/// 1 will have the size 10x10x10, etc. That way, a given AABB will be inserted +/// 1 will have the size 10x10x10, etc. That way, a given Aabb will be inserted /// on the layer that has regions big enough to avoid the large-object problem. /// For example a 20x20x20 object will be inserted in the layer with region -/// of size 10x10x10, resulting in only 8 regions being intersect by the AABB. +/// of size 10x10x10, resulting in only 8 regions being intersect by the Aabb. /// (If it was inserted in the layer with regions of size 1x1x1, it would have intersected /// 8000 regions, which is a problem performancewise.) /// @@ -53,14 +53,14 @@ use parry::utils::hashmap::HashMap; /// way. So we need a way to do inter-layer interference detection. There is a lot ways of doing /// this: performing inter-layer Multi-Box-Pruning passes is one example (but this is not what we do). /// In our implementation, we do the following: -/// - The AABB bounds of each region of the layer `n` are inserted into the corresponding larger region +/// - The Aabb bounds of each region of the layer `n` are inserted into the corresponding larger region /// of the layer `n + 1`. -/// - When an AABB in the region of the layer `n + 1` intersects the AABB corresponding to one of the -/// regions at the smaller layer `n`, we add that AABB to that smaller region. -/// So in the end it means that a given AABB will be inserted into all the region it intersects at +/// - When an Aabb in the region of the layer `n + 1` intersects the Aabb corresponding to one of the +/// regions at the smaller layer `n`, we add that Aabb to that smaller region. +/// So in the end it means that a given Aabb will be inserted into all the region it intersects at /// the layer `n`. And it will also be inserted into all the regions it intersects at the smaller layers /// (the layers `< n`), but only for the regions that already exist (so we don't have to discretize -/// our AABB into the layers `< n`). This involves a fair amount of bookkeeping unfortunately, but +/// our Aabb into the layers `< n`). This involves a fair amount of bookkeeping unfortunately, but /// this has the benefit of keep the overall complexity of the algorithm O(1) in the typical specially /// coherent scenario. /// @@ -68,10 +68,10 @@ use parry::utils::hashmap::HashMap; /// - There is one `SAPLayer` per layer of the hierarchical grid. /// - Each `SAPLayer` contains multiple `SAPRegion` (each being a region of the grid represented by that layer). /// - Each `SAPRegion` contains three `SAPAxis`, representing the "classical" SAP algorithm running on this region. -/// - Each `SAPAxis` maintains a sorted list of `SAPEndpoints` representing the endpoints of the AABBs intersecting +/// - Each `SAPAxis` maintains a sorted list of `SAPEndpoints` representing the endpoints of the Aabbs intersecting /// the bounds on the `SAPRegion` containing this `SAPAxis`. -/// - A set of `SAPProxy` are maintained separately. It contains the AABBs of all the colliders managed by this -/// broad-phase, as well as the AABBs of all the regions part of this broad-phase. +/// - A set of `SAPProxy` are maintained separately. It contains the Aabbs of all the colliders managed by this +/// broad-phase, as well as the Aabbs of all the regions part of this broad-phase. #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[derive(Clone)] pub struct BroadPhase { @@ -151,7 +151,7 @@ impl BroadPhase { /// Pre-deletes a proxy from this broad-phase. /// /// The removal of a proxy is a semi-lazy process. It will mark - /// the proxy as predeleted, and will set its AABB as +infinity. + /// the proxy as predeleted, and will set its Aabb as +infinity. /// After this method has been called with all the proxies to /// remove, the `complete_removal` method MUST be called to /// complete the removal of these proxies, by actually removing them @@ -355,7 +355,7 @@ impl BroadPhase { if aabb.mins.coords.iter().any(|e| !e.is_finite()) || aabb.maxs.coords.iter().any(|e| !e.is_finite()) { - // Reject AABBs with non-finite values. + // Reject Aabbs with non-finite values. return false; } @@ -401,11 +401,11 @@ impl BroadPhase { let layer = &mut self.layers[layer_id as usize]; // Preupdate the collider in the layer. - // We need to use both the prev AABB and the new AABB for this update, to - // handle special cases where one AABB has left a region that doesn’t contain - // any other modified AABBs. + // We need to use both the prev Aabb and the new Aabb for this update, to + // handle special cases where one Aabb has left a region that doesn’t contain + // any other modified Aabbs. // If the combination of both previous and new aabbs isn’t more than 25% bigger - // than the new AABB, we just merge them to save some computation times (to avoid + // than the new Aabb, we just merge them to save some computation times (to avoid // discretizing twice the area at their intersection. If it’s bigger than 25% then // we discretize both aabbs individually. let merged_aabbs = prev_aabb.merged(&aabb); @@ -501,7 +501,7 @@ impl BroadPhase { /// Propagate regions from the smallest layers up to the larger layers. /// - /// Whenever a region is created on a layer `n`, then its AABB must be + /// Whenever a region is created on a layer `n`, then its Aabb must be /// added to its larger layer so we can detect when an object /// in a larger layer may start interacting with objects in a smaller /// layer. @@ -551,7 +551,7 @@ impl BroadPhase { // order to account for the fact that a big proxy moved. // NOTE: this 2nd point could probably be improved: instead of updating // all the subregions, we could perhaps just update the subregions - // that crosses the boundary of the AABB of the big proxies that + // that crosses the boundary of the Aabb of the big proxies that // moved in they layer `n`. let mut layer_id = Some(self.largest_layer); diff --git a/src/geometry/broad_phase_multi_sap/sap_axis.rs b/src/geometry/broad_phase_multi_sap/sap_axis.rs index 4b05116..4e2ab44 100644 --- a/src/geometry/broad_phase_multi_sap/sap_axis.rs +++ b/src/geometry/broad_phase_multi_sap/sap_axis.rs @@ -188,7 +188,7 @@ impl SAPAxis { .retain(|endpt| endpt.is_sentinel() || existing_proxies[endpt.proxy() as usize]) } - /// Removes from this axis all the endpoints corresponding to a proxy with an AABB mins/maxs values + /// Removes from this axis all the endpoints corresponding to a proxy with an Aabb mins/maxs values /// equal to DELETED_AABB_VALUE, indicating that the endpoints should be deleted. /// /// Returns the number of deleted proxies such that `proxy.layer_depth <= layer_depth`. diff --git a/src/geometry/broad_phase_multi_sap/sap_layer.rs b/src/geometry/broad_phase_multi_sap/sap_layer.rs index 4316ecd..2266d56 100644 --- a/src/geometry/broad_phase_multi_sap/sap_layer.rs +++ b/src/geometry/broad_phase_multi_sap/sap_layer.rs @@ -1,6 +1,6 @@ use super::{SAPProxies, SAPProxy, SAPRegion, SAPRegionPool}; use crate::geometry::broad_phase_multi_sap::DELETED_AABB_VALUE; -use crate::geometry::{SAPProxyIndex, AABB}; +use crate::geometry::{Aabb, SAPProxyIndex}; use crate::math::{Point, Real}; use parry::bounding_volume::BoundingVolume; use parry::utils::hashmap::{Entry, HashMap}; @@ -215,8 +215,8 @@ impl SAPLayer { pub fn preupdate_collider( &mut self, proxy_id: u32, - aabb_to_discretize: &AABB, - actual_aabb: Option<&AABB>, + aabb_to_discretize: &Aabb, + actual_aabb: Option<&Aabb>, proxies: &mut SAPProxies, pool: &mut SAPRegionPool, ) { @@ -241,15 +241,15 @@ impl SAPLayer { let region = region_proxy.data.as_region_mut(); // NOTE: sometimes, rounding errors will generate start/end indices - // that lie outside of the actual region’s AABB. + // that lie outside of the actual region’s Aabb. // TODO: is there a smarter, more efficient way of dealing with this? if !region_proxy.aabb.intersects(aabb_to_discretize) { continue; } if let Some(actual_aabb) = actual_aabb { - // NOTE: if the actual AABB doesn't intersect the - // region’s AABB, then we need to delete the + // NOTE: if the actual Aabb doesn't intersect the + // region’s Aabb, then we need to delete the // proxy from that region because it means that // during the last update the proxy intersected // that region, but it doesn't intersect it any @@ -267,12 +267,12 @@ impl SAPLayer { } pub fn predelete_proxy(&mut self, proxies: &mut SAPProxies, proxy_index: SAPProxyIndex) { - // Discretize the AABB to find the regions that need to be invalidated. + // Discretize the Aabb to find the regions that need to be invalidated. let proxy_aabb = &mut proxies[proxy_index].aabb; let start = super::point_key(proxy_aabb.mins, self.region_width); let end = super::point_key(proxy_aabb.maxs, self.region_width); - // Set the AABB of the proxy to a very large value. + // Set the Aabb of the proxy to a very large value. proxy_aabb.mins.coords.fill(DELETED_AABB_VALUE); proxy_aabb.maxs.coords.fill(DELETED_AABB_VALUE); diff --git a/src/geometry/broad_phase_multi_sap/sap_proxy.rs b/src/geometry/broad_phase_multi_sap/sap_proxy.rs index dff46ff..9ddd8b9 100644 --- a/src/geometry/broad_phase_multi_sap/sap_proxy.rs +++ b/src/geometry/broad_phase_multi_sap/sap_proxy.rs @@ -1,7 +1,7 @@ use super::NEXT_FREE_SENTINEL; use crate::geometry::broad_phase_multi_sap::SAPRegion; use crate::geometry::ColliderHandle; -use parry::bounding_volume::AABB; +use parry::bounding_volume::Aabb; use std::ops::{Index, IndexMut}; pub type SAPProxyIndex = u32; @@ -51,7 +51,7 @@ impl SAPProxyData { #[derive(Clone)] pub struct SAPProxy { pub data: SAPProxyData, - pub aabb: AABB, + pub aabb: Aabb, pub next_free: SAPProxyIndex, // TODO: pack the layer_id and layer_depth into a single u16? pub layer_id: u8, @@ -59,7 +59,7 @@ pub struct SAPProxy { } impl SAPProxy { - pub fn collider(handle: ColliderHandle, aabb: AABB, layer_id: u8, layer_depth: i8) -> Self { + pub fn collider(handle: ColliderHandle, aabb: Aabb, layer_id: u8, layer_depth: i8) -> Self { Self { data: SAPProxyData::Collider(handle), aabb, @@ -69,7 +69,7 @@ impl SAPProxy { } } - pub fn subregion(subregion: Box<SAPRegion>, aabb: AABB, layer_id: u8, layer_depth: i8) -> Self { + pub fn subregion(subregion: Box<SAPRegion>, aabb: Aabb, layer_id: u8, layer_depth: i8) -> Self { Self { data: SAPProxyData::Region(Some(subregion)), aabb, diff --git a/src/geometry/broad_phase_multi_sap/sap_region.rs b/src/geometry/broad_phase_multi_sap/sap_region.rs index 0778831..1a3903b 100644 --- a/src/geometry/broad_phase_multi_sap/sap_region.rs +++ b/src/geometry/broad_phase_multi_sap/sap_region.rs @@ -2,7 +2,7 @@ use super::{SAPAxis, SAPProxies}; use crate::geometry::SAPProxyIndex; use crate::math::DIM; use bit_vec::BitVec; -use parry::bounding_volume::AABB; +use parry::bounding_volume::Aabb; use parry::utils::hashmap::HashMap; pub type SAPRegionPool = Vec<Box<SAPRegion>>; @@ -25,7 +25,7 @@ pub struct SAPRegion { } impl SAPRegion { - pub fn new(bounds: AABB) -> Self { + pub fn new(bounds: Aabb) -> Self { let axes = [ SAPAxis::new(bounds.mins.x, bounds.maxs.x), SAPAxis::new(bounds.mins.y, bounds.maxs.y), @@ -44,7 +44,7 @@ impl SAPRegion { } } - pub fn recycle(bounds: AABB, mut old: Box<Self>) -> Box<Self> { + pub fn recycle(bounds: Aabb, mut old: Box<Self>) -> Box<Self> { // Correct the bounds for i in 0..DIM { // Make sure the axis is empty (it may still contain @@ -73,7 +73,7 @@ impl SAPRegion { old } - pub fn recycle_or_new(bounds: AABB, pool: &mut Vec<Box<Self>>) -> Box<Self> { + pub fn recycle_or_new(bounds: Aabb, pool: &mut Vec<Box<Self>>) -> Box<Self> { if let Some(old) = pool.pop() { Self::recycle(bounds, old) } else { @@ -177,7 +177,7 @@ impl SAPRegion { false } else { // Here we need a second update if all proxies exit this region. In this case, we need - // to delete the final proxy, but the region may not have AABBs overlapping it, so it + // to delete the final proxy, but the region may not have Aabbs overlapping it, so it // wouldn't get an update otherwise. self.update_count = 2; true diff --git a/src/geometry/broad_phase_multi_sap/sap_utils.rs b/src/geometry/broad_phase_multi_sap/sap_utils.rs index 43a8bb4..56183eb 100644 --- a/src/geometry/broad_phase_multi_sap/sap_utils.rs +++ b/src/geometry/broad_phase_multi_sap/sap_utils.rs @@ -1,5 +1,5 @@ use crate::math::{Point, Real, Vector}; -use parry::bounding_volume::AABB; +use parry::bounding_volume::Aabb; pub(crate) const NUM_SENTINELS: usize = 1; pub(crate) const NEXT_FREE_SENTINEL: u32 = u32::MAX; @@ -30,26 +30,26 @@ pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<i32> { .into() } -pub(crate) fn region_aabb(index: Point<i32>, region_width: Real) -> AABB { +pub(crate) fn region_aabb(index: Point<i32>, region_width: Real) -> Aabb { let mins = index.coords.map(|i| i as Real * region_width).into(); let maxs = mins + Vector::repeat(region_width); - AABB::new(mins, maxs) + Aabb::new(mins, maxs) } pub(crate) fn region_width(depth: i8) -> Real { (REGION_WIDTH_BASE * REGION_WIDTH_POWER_BASIS.powi(depth as i32)).min(MAX_AABB_EXTENT) } -/// Computes the depth of the layer the given AABB should be part of. +/// Computes the depth of the layer the given Aabb should be part of. /// -/// The idea here is that an AABB should be part of a layer which has -/// regions large enough so that one AABB doesn't crosses too many +/// The idea here is that an Aabb should be part of a layer which has +/// regions large enough so that one Aabb doesn't crosses too many /// regions. But the regions must also not be too large, otherwise /// we are loosing the benefits of Multi-SAP. /// /// If the code bellow, we select a layer such that each region can -/// contain at least a chain of 10 contiguous objects with that AABB. -pub(crate) fn layer_containing_aabb(aabb: &AABB) -> i8 { +/// contain at least a chain of 10 contiguous objects with that Aabb. +pub(crate) fn layer_containing_aabb(aabb: &Aabb) -> i8 { // Max number of elements of this size we would like one region to be able to contain. const NUM_ELEMENTS_PER_DIMENSION: Real = 10.0; diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index efe6304..95ae273 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -8,8 +8,8 @@ use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector, DIM}; use crate::parry::transformation::vhacd::VHACDParameters; use crate::pipeline::{ActiveEvents, ActiveHooks}; use na::Unit; -use parry::bounding_volume::AABB; -use parry::shape::Shape; +use parry::bounding_volume::Aabb; +use parry::shape::{Shape, TriMeshFlags}; #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] #[derive(Clone)] @@ -348,13 +348,13 @@ impl Collider { } /// Compute the axis-aligned bounding box of this collider. - pub fn compute_aabb(&self) -> AABB { + pub fn compute_aabb(&self) -> Aabb { self.shape.compute_aabb(&self.pos) } /// Compute the axis-aligned bounding box of this collider moving from its current position /// to the given `next_position` - pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> AABB { + pub fn compute_swept_aabb(&self, next_position: &Isometry<Real>) -> Aabb { self.shape.compute_swept_aabb(&self.pos, next_position) } @@ -550,6 +550,16 @@ impl ColliderBuilder { Self::new(SharedShape::trimesh(vertices, indices)) } + /// Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers and + /// flags controlling its pre-processing. + pub fn trimesh_with_flags( + vertices: Vec<Point<Real>>, + indices: Vec<[u32; 3]>, + flags: TriMeshFlags, + ) -> Self { + Self::new(SharedShape::trimesh_with_flags(vertices, indices, flags)) + } + /// Initializes a collider builder with a compound shape obtained from the decomposition of /// the given trimesh (in 3D) or polyline (in 2D) into convex parts. pub fn convex_decomposition(vertices: &[Point<Real>], indices: &[[u32; DIM]]) -> Self { diff --git a/src/geometry/interaction_groups.rs b/src/geometry/interaction_groups.rs index 2c3b4b3..2dfa098 100644 --- a/src/geometry/interaction_groups.rs +++ b/src/geometry/interaction_groups.rs @@ -150,3 +150,17 @@ bitflags! { const NONE = 0; } } + +impl From<u32> for Group { + #[inline] + fn from(val: u32) -> Self { + unsafe { Self::from_bits_unchecked(val) } + } +} + +impl From<Group> for u32 { + #[inline] + fn from(val: Group) -> Self { + val.bits() + } +} diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs index 0cec051..4f3ada8 100644 --- a/src/geometry/mod.rs +++ b/src/geometry/mod.rs @@ -41,7 +41,7 @@ pub type Cylinder = parry::shape::Cylinder; #[cfg(feature = "dim3")] pub type Cone = parry::shape::Cone; /// An axis-aligned bounding box. -pub type AABB = parry::bounding_volume::AABB; +pub type Aabb = parry::bounding_volume::Aabb; /// A ray that can be cast against colliders. pub type Ray = parry::query::Ray; /// The intersection between a ray and a collider. @@ -178,7 +178,7 @@ impl ContactForceEvent { pub(crate) use self::broad_phase_multi_sap::SAPProxyIndex; pub(crate) use self::narrow_phase::ContactManifoldIndex; -pub(crate) use parry::partitioning::QBVH; +pub(crate) use parry::partitioning::Qbvh; pub use parry::shape::*; #[cfg(feature = "serde-serialize")] diff --git a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs index fd93d6c..bb9fd78 100644 --- a/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs +++ b/src/pipeline/debug_render_pipeline/debug_render_pipeline.rs @@ -30,7 +30,7 @@ bitflags::bitflags! { const SOLVER_CONTACTS = 1 << 4; /// If this flag is set, the geometric contacts will be rendered. const CONTACTS = 1 << 5; - /// If this flag is set, the AABBs of colliders will be rendered. + /// If this flag is set, the Aabbs of colliders will be rendered. const COLLIDER_AABBS = 1 << 6; } } diff --git a/src/pipeline/debug_render_pipeline/debug_render_style.rs b/src/pipeline/debug_render_pipeline/debug_render_style.rs index 987d95d..33630aa 100644 --- a/src/pipeline/debug_render_pipeline/debug_render_style.rs +++ b/src/pipeline/debug_render_pipeline/debug_render_style.rs @@ -44,7 +44,7 @@ pub struct DebugRenderStyle { pub contact_normal_color: DebugColor, /// The length of the contact normals. pub contact_normal_length: Real, - /// The color of the colliders AABBs. + /// The color of the colliders Aabbs. pub collider_aabb_color: DebugColor, } diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs index e2ea05f..00825e2 100644 --- a/src/pipeline/query_pipeline.rs +++ b/src/pipeline/query_pipeline.rs @@ -1,10 +1,10 @@ use crate::dynamics::{IslandManager, RigidBodyHandle}; use crate::geometry::{ - Collider, ColliderHandle, InteractionGroups, PointProjection, Ray, RayIntersection, AABB, QBVH, + Aabb, Collider, ColliderHandle, InteractionGroups, PointProjection, Qbvh, Ray, RayIntersection, }; use crate::math::{Isometry, Point, Real, Vector}; use crate::{dynamics::RigidBodySet, geometry::ColliderSet}; -use parry::partitioning::QBVHDataGenerator; +use parry::partitioning::QbvhDataGenerator; use parry::query::details::{ IntersectionCompositeShapeShapeBestFirstVisitor, NonlinearTOICompositeShapeShapeBestFirstVisitor, PointCompositeShapeProjBestFirstVisitor, @@ -17,6 +17,7 @@ use parry::query::visitors::{ }; use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher, TOI}; use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape}; +use parry::utils::DefaultStorage; use std::sync::Arc; /// A pipeline for performing queries on all the colliders of a scene. @@ -28,7 +29,7 @@ pub struct QueryPipeline { serde(skip, default = "crate::geometry::default_query_dispatcher") )] query_dispatcher: Arc<dyn QueryDispatcher>, - qbvh: QBVH<ColliderHandle>, + qbvh: Qbvh<ColliderHandle>, tree_built: bool, dilation_factor: Real, } @@ -245,6 +246,7 @@ pub enum QueryPipelineMode { impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> { type PartShape = dyn Shape; type PartId = ColliderHandle; + type QbvhStorage = DefaultStorage; fn map_typed_part_at( &self, @@ -266,7 +268,7 @@ impl<'a> TypedSimdCompositeShape for QueryPipelineAsCompositeShape<'a> { self.map_typed_part_at(shape_id, f); } - fn typed_qbvh(&self) -> &QBVH<ColliderHandle> { + fn typed_qbvh(&self) -> &Qbvh<ColliderHandle> { &self.query_pipeline.qbvh } } @@ -307,7 +309,7 @@ impl QueryPipeline { { Self { query_dispatcher: Arc::new(d), - qbvh: QBVH::new(), + qbvh: Qbvh::new(), tree_built: false, dilation_factor: 0.01, } @@ -347,13 +349,13 @@ impl QueryPipeline { mode: QueryPipelineMode, } - impl<'a> QBVHDataGenerator<ColliderHandle> for DataGenerator<'a> { + impl<'a> QbvhDataGenerator<ColliderHandle> for DataGenerator<'a> { fn size_hint(&self) -> usize { self.colliders.len() } #[inline(always)] - fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, AABB)) { + fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) { match self.mode { QueryPipelineMode::CurrentPosition => { for (h, co) in self.colliders.iter() { @@ -673,10 +675,10 @@ impl QueryPipeline { .map(|h| (h.1 .1 .0, h.1 .0, h.1 .1 .1)) } - /// Finds all handles of all the colliders with an AABB intersecting the given AABB. + /// Finds all handles of all the colliders with an Aabb intersecting the given Aabb. pub fn colliders_with_aabb_intersecting_aabb( &self, - aabb: &AABB, + aabb: &Aabb, mut callback: impl FnMut(&ColliderHandle) -> bool, ) { let mut visitor = BoundingVolumeIntersectionsVisitor::new(aabb, &mut callback); |