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//! 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, RigidBody, RigidBodyPosition},
pipeline::QueryPipeline,
prelude::Collider,
};
/// 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 parameter 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 [`IntegrationParameters::dt`].
pub dt: Real,
}
impl QbvhDataGenerator<ColliderHandle> for SweptAabbWithPredictedPosition<'_> {
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 parameter 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 QbvhDataGenerator<ColliderHandle> for SweptAabbWithNextPosition<'_> {
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 parameter to
/// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`].
pub struct CurrentAabb<'a> {
/// The colliders of your simulation.
pub colliders: &'a ColliderSet,
}
impl QbvhDataGenerator<ColliderHandle> for CurrentAabb<'_> {
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))
}
}
}
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