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|
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()
.toi_and_normal_with_ray(collider.position(), ray, max_toi, true)
{
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()
.toi_and_normal_with_ray(collider.position(), ray, max_toi, true)
{
if !callback(handle, collider, inter) {
return;
}
}
}
}
}
|
