use crate::dynamics::RigidBodySet;
use crate::geometry::{
Collider, ColliderHandle, ColliderSet, InteractionGroups, PointProjection, Ray,
RayIntersection, SimdQuadTree, AABB,
};
use crate::math::{Isometry, Point, Real, Vector};
use parry::query::details::{
IntersectionCompositeShapeShapeBestFirstVisitor,
NonlinearTOICompositeShapeShapeBestFirstVisitor, PointCompositeShapeProjBestFirstVisitor,
PointCompositeShapeProjWithFeatureBestFirstVisitor,
RayCompositeShapeToiAndNormalBestFirstVisitor, RayCompositeShapeToiBestFirstVisitor,
TOICompositeShapeShapeBestFirstVisitor,
};
use parry::query::visitors::{
BoundingVolumeIntersectionsVisitor, PointIntersectionsVisitor, RayIntersectionsVisitor,
};
use parry::query::{DefaultQueryDispatcher, NonlinearRigidMotion, QueryDispatcher, TOI};
use parry::shape::{FeatureId, Shape, TypedSimdCompositeShape};
use std::sync::Arc;
/// A pipeline for performing queries on all the colliders of a scene.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
pub struct QueryPipeline {
#[cfg_attr(
feature = "serde-serialize",
serde(skip, default = "crate::geometry::default_query_dispatcher")
)]
query_dispatcher: Arc<dyn QueryDispatcher>,
quadtree: SimdQuadTree<ColliderHandle>,
tree_built: bool,
dilation_factor: Real,
}
struct QueryPipelineAsCompositeShape<'a> {
query_pipeline: &'a QueryPipeline,
colliders: &'a ColliderSet,
query_groups: InteractionGroups,
filter: Option<&'a dyn Fn(ColliderHandle, &Collider) -> bool>,
}
/// 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 PartId = ColliderHandle;
fn map_typed_part_at(
&self,
shape_id: Self::PartId,
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
) {
if let Some(collider) = self.colliders.get(shape_id) {
if collider.collision_groups.test(self.query_groups)
&& self.filter.map(|f| f(shape_id, collider)).unwrap_or(true)
{
f(Some(collider.position()), collider.shape())
}
}
}
fn map_untyped_part_at(
&self,
shape_id: Self::PartId,
f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape),
) {
self.map_typed_part_at(shape_id, f);
}
fn typed_quadtree(&self) -> &SimdQuadTree<ColliderHandle> {
&self.query_pipeline.quadtree
}
}
impl Default for QueryPipeline {
fn default() -> Self {
Self::new()
}
}
impl QueryPipeline {
/// Initializes an empty query pipeline.
pub fn new() -> Self {
Self::with_query_dispatcher(DefaultQueryDispatcher)
}
fn as_composite_shape<'a>(
&'a self,
colliders: &'a ColliderSet,
query_groups: InteractionGroups,
filter: Option<&'a dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> QueryPipelineAsCompositeShape<'a> {
QueryPipelineAsCompositeShape {
query_pipeline: self,
colliders,
query_groups,
filter,
}
}
/// Initializes an empty query pipeline with a custom `QueryDispatcher`.
///
/// Use this constructor in order to use a custom `QueryDispatcher` that is
/// aware of your own user-defined shapes.
pub fn with_query_dispatcher<D>(d: D) -> Self
where
D: 'static + QueryDispatcher,
{
Self {
query_dispatcher: Arc::new(d),
quadtree: SimdQuadTree::new(),
tree_built: false,
dilation_factor: 0.01,
}
}
/// The query dispatcher used by this query pipeline for running scene queries.
pub fn query_dispatcher(&self) -> &dyn QueryDispatcher {
&*self.query_dispatcher
}
/// 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)
}
/// Update the acceleration structure on the query pipeline.
pub fn update_with_mode(
&mut self,
bodies: &RigidBodySet,
colliders: &ColliderSet,
mode: QueryPipelineMode,
) {
if !self.tree_built {
match mode {
QueryPipelineMode::CurrentPosition => {
let data = colliders.iter().map(|(h, c)| (h, c.compute_aabb()));
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}
QueryPipelineMode::SweepTestWithNextPosition => {
let data = colliders.iter().map(|(h, c)| {
let next_position =
bodies[c.parent()].next_position * c.position_wrt_parent();
(h, c.compute_swept_aabb(&next_position))
});
self.quadtree.clear_and_rebuild(data, self.dilation_factor);
}
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
let data = colliders.iter().map(|(h, c)| {
let next_position = bodies[c.parent()]
.predict_position_using_velocity_and_forces(dt)
* c.position_wrt_parent();
(h, c.compute_swept_aabb(&next_position))
});
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)
}
}
match mode {
QueryPipelineMode::CurrentPosition => {
self.quadtree.update(
|handle| colliders[*handle].compute_aabb(),
self.dilation_factor,
);
}
QueryPipelineMode::SweepTestWithNextPosition => {
self.quadtree.update(
|handle| {
let co = &colliders[*handle];
let next_position =
bodies[co.parent()].next_position * co.position_wrt_parent();
co.compute_swept_aabb(&next_position)
},
self.dilation_factor,
);
}
QueryPipelineMode::SweepTestWithPredictedPosition { dt } => {
self.quadtree.update(
|handle| {
let co = &colliders[*handle];
let next_position = bodies[co.parent()]
.predict_position_using_velocity_and_forces(dt)
* co.position_wrt_parent();
co.compute_swept_aabb(&next_position)
},
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 `Real::MAX` for an unbounded ray.
/// - `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if
/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
/// even if its starts inside of it.
/// - `query_groups`: the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// - `filter`: a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn cast_ray(
&self,
colliders: &ColliderSet,
ray: &Ray,
max_toi: Real,
solid: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, Real)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor =
RayCompositeShapeToiBestFirstVisitor::new(&pipeline_shape, ray, max_toi, solid);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
}
/// 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 `Real::MAX` for an unbounded ray.
/// - `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if
/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
/// even if its starts inside of it.
/// - `query_groups`: the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// - `filter`: a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn cast_ray_and_get_normal(
&self,
colliders: &ColliderSet,
ray: &Ray,
max_toi: Real,
solid: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, RayIntersection)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = RayCompositeShapeToiAndNormalBestFirstVisitor::new(
&pipeline_shape,
ray,
max_toi,
solid,
);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
}
/// 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 `Real::MAX` for an unbounded ray.
/// - `solid`: if this is `true` an impact at time 0.0 (i.e. at the ray origin) is returned if
/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
/// even if its starts inside of it.
/// - `query_groups`: the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// - `filter`: a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
/// - `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, ignore any further raycast.
pub fn intersections_with_ray<'a>(
&self,
colliders: &'a ColliderSet,
ray: &Ray,
max_toi: Real,
solid: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool,
) {
let mut leaf_callback = &mut |handle: &ColliderHandle| {
if let Some(coll) = colliders.get(*handle) {
if coll.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle, coll)).unwrap_or(true)
{
if let Some(hit) =
coll.shape()
.cast_ray_and_get_normal(coll.position(), ray, max_toi, solid)
{
return callback(*handle, coll, hit);
}
}
}
true
};
let mut visitor = RayIntersectionsVisitor::new(ray, max_toi, &mut leaf_callback);
self.quadtree.traverse_depth_first(&mut visitor);
}
/// Gets the handle of up to one collider intersecting the given shape.
///
/// # Parameters
/// * `colliders` - The set of colliders taking part in this pipeline.
/// * `shape_pos` - The position of the shape used for the intersection test.
/// * `shape` - The shape used for the intersection test.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn intersection_with_shape(
&self,
colliders: &ColliderSet,
shape_pos: &Isometry<Real>,
shape: &dyn Shape,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<ColliderHandle> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = IntersectionCompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher,
shape_pos,
&pipeline_shape,
shape,
);
self.quadtree
.traverse_best_first(&mut visitor)
.map(|h| (h.1 .0))
}
/// Find the projection of a point on the closest collider.
///
/// # Parameters
/// * `colliders` - The set of colliders taking part in this pipeline.
/// * `point` - The point to project.
/// * `solid` - If this is set to `true` then the collider shapes are considered to
/// be plain (if the point is located inside of a plain shape, its projection is the point
/// itself). If it is set to `false` the collider shapes are considered to be hollow
/// (if the point is located inside of an hollow shape, it is projected on the shape's
/// boundary).
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn project_point(
&self,
colliders: &ColliderSet,
point: &Point<Real>,
solid: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, PointProjection)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor =
PointCompositeShapeProjBestFirstVisitor::new(&pipeline_shape, point, solid);
self.quadtree
.traverse_best_first(&mut visitor)
.map(|h| (h.1 .1, h.1 .0))
}
/// Find all the colliders containing the given point.
///
/// # Parameters
/// * `colliders` - The set of colliders taking part in this pipeline.
/// * `point` - The point used for the containment test.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
/// * `callback` - A function called with each collider with a shape
/// containing the `point`.
pub fn intersections_with_point<'a>(
&self,
colliders: &'a ColliderSet,
point: &Point<Real>,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool,
) {
let mut leaf_callback = &mut |handle: &ColliderHandle| {
if let Some(coll) = colliders.get(*handle) {
if coll.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle, coll)).unwrap_or(true)
&& coll.shape().contains_point(coll.position(), point)
{
return callback(*handle, coll);
}
}
true
};
let mut visitor = PointIntersectionsVisitor::new(point, &mut leaf_callback);
self.quadtree.traverse_depth_first(&mut visitor);
}
/// Find the projection of a point on the closest collider.
///
/// The results include the ID of the feature hit by the point.
///
/// # Parameters
/// * `colliders` - The set of colliders taking part in this pipeline.
/// * `point` - The point to project.
/// * `solid` - If this is set to `true` then the collider shapes are considered to
/// be plain (if the point is located inside of a plain shape, its projection is the point
/// itself). If it is set to `false` the collider shapes are considered to be hollow
/// (if the point is located inside of an hollow shape, it is projected on the shape's
/// boundary).
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn project_point_and_get_feature(
&self,
colliders: &ColliderSet,
point: &Point<Real>,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, PointProjection, FeatureId)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor =
PointCompositeShapeProjWithFeatureBestFirstVisitor::new(&pipeline_shape, point, false);
self.quadtree
.traverse_best_first(&mut visitor)
.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.
pub fn colliders_with_aabb_intersecting_aabb(
&self,
aabb: &AABB,
mut callback: impl FnMut(&ColliderHandle) -> bool,
) {
let mut visitor = BoundingVolumeIntersectionsVisitor::new(aabb, &mut callback);
self.quadtree.traverse_depth_first(&mut visitor);
}
/// Casts a shape at a constant linear velocity and retrieve the first collider it hits.
///
/// This is similar to ray-casting except that we are casting a whole shape instead of
/// just a point (the ray origin).
///
/// # Parameters
/// * `colliders` - The set of colliders taking part in this pipeline.
/// * `shape_pos` - The initial position of the shape to cast.
/// * `shape_vel` - The constant velocity of the shape to cast (i.e. the cast direction).
/// * `shape` - The shape to cast.
/// * `max_toi` - The maximum time-of-impact that can be reported by this cast. This effectively
/// limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn cast_shape<'a>(
&self,
colliders: &'a ColliderSet,
shape_pos: &Isometry<Real>,
shape_vel: &Vector<Real>,
shape: &dyn Shape,
max_toi: Real,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, TOI)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let mut visitor = TOICompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher,
shape_pos,
shape_vel,
&pipeline_shape,
shape,
max_toi,
);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
}
/// Casts a shape with an arbitrary continuous motion and retrieve the first collider it hits.
///
/// # Parameters
/// * `colliders` - The set of colliders taking part in this pipeline.
/// * `shape_motion` - The motion of the shape.
/// * `shape` - The shape to cast.
/// * `start_time` - The starting time of the interval where the motion takes place.
/// * `end_time` - The end time of the interval where the motion takes place.
/// * `stop_at_penetration` - If the casted shape starts in a penetration state with any
/// collider, two results are possible. If `stop_at_penetration` is `true` then, the
/// result will have a `toi` equal to `start_time`. If `stop_at_penetration` is `false`
/// then the nonlinear shape-casting will see if further motion wrt. the penetration normal
/// would result in tunnelling. If it does not (i.e. we have a separating velocity along
/// that normal) then the nonlinear shape-casting will attempt to find another impact,
/// at a time `> start_time` that could result in tunnelling.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
pub fn nonlinear_cast_shape(
&self,
colliders: &ColliderSet,
shape_motion: &NonlinearRigidMotion,
shape: &dyn Shape,
start_time: Real,
end_time: Real,
stop_at_penetration: bool,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
) -> Option<(ColliderHandle, TOI)> {
let pipeline_shape = self.as_composite_shape(colliders, query_groups, filter);
let pipeline_motion = NonlinearRigidMotion::identity();
let mut visitor = NonlinearTOICompositeShapeShapeBestFirstVisitor::new(
&*self.query_dispatcher,
&pipeline_motion,
&pipeline_shape,
shape_motion,
shape,
start_time,
end_time,
stop_at_penetration,
);
self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
}
/// Retrieve all the colliders intersecting the given shape.
///
/// # Parameters
/// * `colliders` - The set of colliders taking part in this pipeline.
/// * `shapePos` - The position of the shape to test.
/// * `shapeRot` - The orientation of the shape to test.
/// * `shape` - The shape to test.
/// * `query_groups` - the interaction groups which will be tested against the collider's `contact_group`
/// to determine if it should be taken into account by this query.
/// * `filter` - a more fine-grained filter. A collider is taken into account by this query if
/// its `contact_group` is compatible with the `query_groups`, and if this `filter`
/// is either `None` or returns `true`.
/// * `callback` - A function called with the handles of each collider intersecting the `shape`.
pub fn intersections_with_shape<'a>(
&self,
colliders: &'a ColliderSet,
shape_pos: &Isometry<Real>,
shape: &dyn Shape,
query_groups: InteractionGroups,
filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool,
) {
let dispatcher = &*self.query_dispatcher;
let inv_shape_pos = shape_pos.inverse();
let mut leaf_callback = &mut |handle: &ColliderHandle| {
if let Some(coll) = colliders.get(*handle) {
if coll.collision_groups.test(query_groups)
&& filter.map(|f| f(*handle, coll)).unwrap_or(true)
{
let pos12 = inv_shape_pos * coll.position();
if dispatcher.intersection_test(&pos12, shape, coll.shape()) == Ok(true) {
return callback(*handle, coll);
}
}
}
true
};
let shape_aabb = shape.compute_aabb(shape_pos);
let mut visitor = BoundingVolumeIntersectionsVisitor::new(&shape_aabb, &mut leaf_callback);
self.quadtree.traverse_depth_first(&mut visitor);
}
}