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-rw-r--r--src/dynamics/ccd/ccd_solver.rs20
-rw-r--r--src/pipeline/mod.rs4
-rw-r--r--src/pipeline/query_pipeline/generators.rs109
-rw-r--r--src/pipeline/query_pipeline/mod.rs (renamed from src/pipeline/query_pipeline.rs)92
4 files changed, 134 insertions, 91 deletions
diff --git a/src/dynamics/ccd/ccd_solver.rs b/src/dynamics/ccd/ccd_solver.rs
index 79c4495..eaabf77 100644
--- a/src/dynamics/ccd/ccd_solver.rs
+++ b/src/dynamics/ccd/ccd_solver.rs
@@ -3,8 +3,8 @@ use crate::dynamics::{IslandManager, RigidBodyHandle, RigidBodySet};
use crate::geometry::{ColliderParent, ColliderSet, CollisionEvent, NarrowPhase};
use crate::math::Real;
use crate::parry::utils::SortedPair;
-use crate::pipeline::{EventHandler, QueryPipeline, QueryPipelineMode};
-use crate::prelude::{ActiveEvents, CollisionEventFlags};
+use crate::pipeline::{EventHandler, QueryPipeline};
+use crate::prelude::{query_pipeline_generators, ActiveEvents, CollisionEventFlags};
use parry::query::{DefaultQueryDispatcher, QueryDispatcher};
use parry::utils::hashmap::HashMap;
use std::collections::BinaryHeap;
@@ -117,10 +117,12 @@ impl CCDSolver {
narrow_phase: &NarrowPhase,
) -> Option<Real> {
// Update the query pipeline.
- self.query_pipeline.update_with_mode(
- bodies,
- colliders,
- QueryPipelineMode::SweepTestWithPredictedPosition { dt },
+ self.query_pipeline.update_with_generator(
+ query_pipeline_generators::SweptAabbWithPredictedPosition {
+ bodies,
+ colliders,
+ dt,
+ },
);
let mut pairs_seen = HashMap::default();
@@ -238,10 +240,8 @@ impl CCDSolver {
let mut min_overstep = dt;
// Update the query pipeline.
- self.query_pipeline.update_with_mode(
- bodies,
- colliders,
- QueryPipelineMode::SweepTestWithNextPosition,
+ self.query_pipeline.update_with_generator(
+ query_pipeline_generators::SweptAabbWithNextPosition { bodies, colliders },
);
/*
diff --git a/src/pipeline/mod.rs b/src/pipeline/mod.rs
index bac67d2..d32d342 100644
--- a/src/pipeline/mod.rs
+++ b/src/pipeline/mod.rs
@@ -4,7 +4,9 @@ pub use collision_pipeline::CollisionPipeline;
pub use event_handler::{ActiveEvents, ChannelEventCollector, EventHandler};
pub use physics_hooks::{ActiveHooks, ContactModificationContext, PairFilterContext, PhysicsHooks};
pub use physics_pipeline::PhysicsPipeline;
-pub use query_pipeline::{QueryFilter, QueryFilterFlags, QueryPipeline, QueryPipelineMode};
+pub use query_pipeline::{
+ generators as query_pipeline_generators, QueryFilter, QueryFilterFlags, QueryPipeline,
+};
#[cfg(feature = "debug-render")]
pub use self::debug_render_pipeline::{
diff --git a/src/pipeline/query_pipeline/generators.rs b/src/pipeline/query_pipeline/generators.rs
new file mode 100644
index 0000000..5b86d6a
--- /dev/null
+++ b/src/pipeline/query_pipeline/generators.rs
@@ -0,0 +1,109 @@
+//! Structs implementing [`QbvhDataGenerator<ColliderHandle>`] to be used with [`QueryPipeline::update_with_generator`].
+
+use parry::partitioning::QbvhDataGenerator;
+
+use crate::math::Real;
+use crate::prelude::{Aabb, ColliderHandle, ColliderSet, RigidBodySet};
+
+#[cfg(doc)]
+use crate::{
+ dynamics::{IntegrationParameters, RigidBodyPosition},
+ pipeline::QueryPipeline,
+};
+
+/// Generates collider AABBs based on the union of their current AABB and the AABB predicted
+/// from the velocity and forces of their parent rigid-body.
+///
+/// The main purpose of this struct is to be passed as a parameters to
+/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
+///
+/// The predicted position is calculated as
+/// `RigidBody::predict_position_using_velocity_and_forces * Collider::position_wrt_parent`.
+pub struct SweptAabbWithPredictedPosition<'a> {
+ /// The rigid bodies of your simulation.
+ pub bodies: &'a RigidBodySet,
+ /// The colliders of your simulation.
+ pub colliders: &'a ColliderSet,
+ /// The delta time to compute predicted position.
+ ///
+ /// You probably want to set it to [`IntegrationParameter::dt`].
+ pub dt: Real,
+}
+impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithPredictedPosition<'a> {
+ fn size_hint(&self) -> usize {
+ self.colliders.len()
+ }
+
+ #[inline(always)]
+ fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
+ for (h, co) in self.colliders.iter_enabled() {
+ if let Some(co_parent) = co.parent {
+ let rb = &self.bodies[co_parent.handle];
+ let predicted_pos = rb
+ .pos
+ .integrate_forces_and_velocities(self.dt, &rb.forces, &rb.vels, &rb.mprops);
+
+ let next_position = predicted_pos * co_parent.pos_wrt_parent;
+ f(h, co.shape.compute_swept_aabb(&co.pos, &next_position))
+ } else {
+ f(h, co.shape.compute_aabb(&co.pos))
+ }
+ }
+ }
+}
+
+/// Generates collider AABBs based on the union of their AABB at their current [`Collider::position`]
+/// and the AABB predicted from their parent’s [`RigidBody::next_position`].
+///
+/// The main purpose of this struct is to be passed as a parameters to
+/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
+///
+/// The predicted position is calculated as
+/// `RigidBody::next_position * Collider::position_wrt_parent`.
+pub struct SweptAabbWithNextPosition<'a> {
+ /// The rigid bodies of your simulation.
+ pub bodies: &'a RigidBodySet,
+ /// The colliders of your simulation.
+ pub colliders: &'a ColliderSet,
+}
+
+impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithNextPosition<'a> {
+ fn size_hint(&self) -> usize {
+ self.colliders.len()
+ }
+
+ #[inline(always)]
+ fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
+ for (h, co) in self.colliders.iter_enabled() {
+ if let Some(co_parent) = co.parent {
+ let rb_next_pos = &self.bodies[co_parent.handle].pos.next_position;
+ let next_position = rb_next_pos * co_parent.pos_wrt_parent;
+ f(h, co.shape.compute_swept_aabb(&co.pos, &next_position))
+ } else {
+ f(h, co.shape.compute_aabb(&co.pos))
+ }
+ }
+ }
+}
+
+/// Generates collider AABBs based on the AABB at their current [`Collider::position`].
+///
+/// The main purpose of this struct is to be passed as a parameters to
+/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
+pub struct CurrentAabb<'a> {
+ /// The colliders of your simulation.
+ pub colliders: &'a ColliderSet,
+}
+
+impl<'a> QbvhDataGenerator<ColliderHandle> for CurrentAabb<'a> {
+ fn size_hint(&self) -> usize {
+ self.colliders.len()
+ }
+
+ #[inline(always)]
+ fn for_each(&mut self, mut f: impl FnMut(ColliderHandle, Aabb)) {
+ for (h, co) in self.colliders.iter_enabled() {
+ f(h, co.shape.compute_aabb(&co.pos))
+ }
+ }
+}
diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline/mod.rs
index f202107..829499f 100644
--- a/src/pipeline/query_pipeline.rs
+++ b/src/pipeline/query_pipeline/mod.rs
@@ -1,3 +1,5 @@
+pub mod generators;
+
use crate::dynamics::RigidBodyHandle;
use crate::geometry::{
Aabb, Collider, ColliderHandle, InteractionGroups, PointProjection, Qbvh, Ray, RayIntersection,
@@ -227,22 +229,6 @@ impl<'a> QueryFilter<'a> {
}
}
-/// 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,
- /// 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> {
type PartShape = dyn Shape;
type PartNormalConstraints = dyn NormalConstraints;
@@ -357,72 +343,18 @@ impl QueryPipeline {
}
/// Update the acceleration structure on the query pipeline.
- pub fn update(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet) {
- self.update_with_mode(bodies, colliders, QueryPipelineMode::CurrentPosition)
+ ///
+ /// Uses [`generators::CurrentAabb`] to update.
+ pub fn update(&mut self, colliders: &ColliderSet) {
+ self.update_with_generator(generators::CurrentAabb { colliders })
}
- /// Update the acceleration structure on the query pipeline.
- pub fn update_with_mode(
- &mut self,
- bodies: &RigidBodySet,
- colliders: &ColliderSet,
- mode: QueryPipelineMode,
- ) {
- struct DataGenerator<'a> {
- bodies: &'a RigidBodySet,
- colliders: &'a ColliderSet,
- mode: QueryPipelineMode,
- }
-
- 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)) {
- match self.mode {
- QueryPipelineMode::CurrentPosition => {
- for (h, co) in self.colliders.iter_enabled() {
- f(h, co.shape.compute_aabb(&co.pos))
- }
- }
- QueryPipelineMode::SweepTestWithNextPosition => {
- for (h, co) in self.colliders.iter_enabled() {
- if let Some(co_parent) = co.parent {
- let rb_next_pos = &self.bodies[co_parent.handle].pos.next_position;
- let next_position = rb_next_pos * co_parent.pos_wrt_parent;
- f(h, co.shape.compute_swept_aabb(&co.pos, &next_position))
- } else {
- f(h, co.shape.compute_aabb(&co.pos))
- }
- }
- }
- QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
- for (h, co) in self.colliders.iter_enabled() {
- if let Some(co_parent) = co.parent {
- let rb = &self.bodies[co_parent.handle];
- let predicted_pos = rb.pos.integrate_forces_and_velocities(
- dt, &rb.forces, &rb.vels, &rb.mprops,
- );
-
- let next_position = predicted_pos * co_parent.pos_wrt_parent;
- f(h, co.shape.compute_swept_aabb(&co.pos, &next_position))
- } else {
- f(h, co.shape.compute_aabb(&co.pos))
- }
- }
- }
- }
- }
- }
-
- let generator = DataGenerator {
- bodies,
- colliders,
- mode,
- };
- self.qbvh.clear_and_rebuild(generator, self.dilation_factor);
+ /// Update the acceleration structure on the query pipeline using a custom collider bounding
+ /// volume generator.
+ ///
+ /// See [`generators`] for available generators.
+ pub fn update_with_generator(&mut self, mode: impl QbvhDataGenerator<ColliderHandle>) {
+ self.qbvh.clear_and_rebuild(mode, self.dilation_factor);
}
/// Find the closest intersection between a ray and a set of collider.
generated by cgit (git 2.34.1) at 2026-01-16 13:23:34 +0000