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use crate::dynamics::RigidBodySet;
use crate::geometry::{
Collider, ColliderHandle, ColliderSet, Ray, RayIntersection, WQuadtree, AABB, WAABB,
};
use crate::math::{Point, Vector};
use ncollide::bounding_volume::BoundingVolume;
/// A pipeline for performing queries on all the colliders of a scene.
pub struct QueryPipeline {
quadtree: WQuadtree,
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 {
self.quadtree
.clear_and_rebuild(colliders, self.dilation_factor);
// self.tree_built = true; // FIXME: uncomment this once we handle insertion/removals properly.
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)> {
// let t0 = instant::now();
let inter = self.quadtree.cast_ray(ray, max_toi);
// println!(
// "Found {} interefrences in time {}.",
// inter.len(),
// instant::now() - t0
// );
// let t0 = instant::now();
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));
}
}
}
// println!("Cast time: {}", instant::now() - t0);
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,
) {
// FIXME: this is a brute-force approach.
for (handle, collider) in colliders.iter() {
if let Some(inter) = collider.shape().cast_ray(collider.position(), ray, max_toi) {
if !callback(handle, collider, inter) {
return;
}
}
}
}
}
|
