Struct rapier2d::pipeline::QueryPipeline

pub struct QueryPipeline { /* fields omitted */ }

A pipeline for performing queries on all the colliders of a scene.

Implementations

impl QueryPipeline

pub fn new() -> Self

Initializes an empty query pipeline.

pub fn with_query_dispatcher<D>(d: D) -> Self where
    D: 'static + QueryDispatcher, 

Initializes an empty query pipeline with a custom QueryDispatcher.

Use this constructor in order to use a custom QueryDispatcher that is awary of your own user-defined shapes.

pub fn update(&mut self, bodies: &RigidBodySet, colliders: &ColliderSet)

Update the acceleration structure on the query pipeline.

pub fn cast_ray(
    &self,
    colliders: &ColliderSet,
    ray: &Ray,
    max_toi: Real,
    solid: bool,
    groups: InteractionGroups
) -> Option<(ColliderHandle, Real)>

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.

pub fn cast_ray_and_get_normal(
    &self,
    colliders: &ColliderSet,
    ray: &Ray,
    max_toi: Real,
    solid: bool,
    groups: InteractionGroups
) -> Option<(ColliderHandle, RayIntersection)>

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.

pub fn intersections_with_ray<'a>(
    &self,
    colliders: &'a ColliderSet,
    ray: &Ray,
    max_toi: Real,
    solid: bool,
    groups: InteractionGroups,
    mut callback: impl FnMut(ColliderHandle, &'a Collider, RayIntersection) -> bool
)

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.
• 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 intersection_with_shape(
    &self,
    colliders: &ColliderSet,
    shape_pos: &Isometry<Real>,
    shape: &dyn Shape,
    groups: InteractionGroups
) -> Option<ColliderHandle>

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.
• groups - The bit groups and filter associated to the ray, in order to only hit the colliders with collision groups compatible with the ray's group.

pub fn project_point(
    &self,
    colliders: &ColliderSet,
    point: &Point<Real>,
    solid: bool,
    groups: InteractionGroups
) -> Option<(ColliderHandle, PointProjection)>

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).
• groups - The bit groups and filter associated to the point to project, in order to only project on colliders with collision groups compatible with the ray's group.

pub fn intersections_with_point<'a>(
    &self,
    colliders: &'a ColliderSet,
    point: &Point<Real>,
    groups: InteractionGroups,
    mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool
)

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.
• groups - The bit groups and filter associated to the point to test, in order to only test on colliders with collision groups compatible with the ray's group.
• callback - A function called with each collider with a shape containing the point.

pub fn project_point_and_get_feature(
    &self,
    colliders: &ColliderSet,
    point: &Point<Real>,
    groups: InteractionGroups
) -> Option<(ColliderHandle, PointProjection, FeatureId)>

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).
• groups - The bit groups and filter associated to the point to project, in order to only project on colliders with collision groups compatible with the ray's group.

pub fn cast_shape<'a>(
    &self,
    colliders: &'a ColliderSet,
    shape_pos: &Isometry<Real>,
    shape_vel: &Vector<Real>,
    shape: &dyn Shape,
    max_toi: Real,
    target_distance: Real,
    groups: InteractionGroups
) -> Option<(ColliderHandle, TOI)>

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.
• groups - The bit groups and filter associated to the shape to cast, in order to only test on colliders with collision groups compatible with this group.

pub fn nonlinear_cast_shape(
    &self,
    colliders: &ColliderSet,
    shape_motion: &dyn RigidMotion,
    shape: &dyn Shape,
    max_toi: Real,
    target_distance: Real,
    groups: InteractionGroups
) -> Option<(ColliderHandle, TOI)>

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.
• 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.
• groups - The bit groups and filter associated to the shape to cast, in order to only test on colliders with collision groups compatible with this group.

pub fn intersections_with_shape<'a>(
    &self,
    colliders: &'a ColliderSet,
    shape_pos: &Isometry<Real>,
    shape: &dyn Shape,
    groups: InteractionGroups,
    mut callback: impl FnMut(ColliderHandle, &'a Collider) -> bool
)

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.
• groups - The bit groups and filter associated to the shape to test, in order to only test on colliders with collision groups compatible with this group.
• callback - A function called with the handles of each collider intersecting the shape.

Trait Implementations

impl Clone for QueryPipeline

fn clone(&self) -> QueryPipeline

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Default for QueryPipeline

fn default() -> Self

Returns the "default value" for a type.