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feat: rework QueryPipeline update API to take less parameters (#647)
* chore: rework QueryPipeline API to take a generic qbvh updater This allows to pass less parameters depending on the updating mode. * chore: rework struct and functions names, and docs --------- Co-authored-by: Sébastien Crozet <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| //! Structs implementing [`QbvhDataGenerator<ColliderHandle>`] to be used with [`QueryPipeline::update_with_generator`]. | ||
| use parry::partitioning::QbvhDataGenerator; | ||
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| use crate::math::Real; | ||
| use crate::prelude::{Aabb, ColliderHandle, ColliderSet, RigidBodySet}; | ||
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| #[cfg(doc)] | ||
| use crate::{ | ||
| dynamics::{IntegrationParameters, RigidBodyPosition}, | ||
| pipeline::QueryPipeline, | ||
| }; | ||
|
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| /// 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 parameters 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 [`IntegrationParameter::dt`]. | ||
| pub dt: Real, | ||
| } | ||
| impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithPredictedPosition<'a> { | ||
| fn size_hint(&self) -> usize { | ||
| self.colliders.len() | ||
| } | ||
|
|
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| #[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); | ||
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| 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)) | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| /// 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 parameters 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, | ||
| } | ||
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| impl<'a> QbvhDataGenerator<ColliderHandle> for SweptAabbWithNextPosition<'a> { | ||
| fn size_hint(&self) -> usize { | ||
| self.colliders.len() | ||
| } | ||
|
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| #[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)) | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| /// Generates collider AABBs based on the AABB at their current [`Collider::position`]. | ||
| /// | ||
| /// The main purpose of this struct is to be passed as a parameters to | ||
| /// [`QueryPipeline::update_with_generator`] to update the [`QueryPipeline`]. | ||
| pub struct CurrentAabb<'a> { | ||
| /// The colliders of your simulation. | ||
| pub colliders: &'a ColliderSet, | ||
| } | ||
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| impl<'a> QbvhDataGenerator<ColliderHandle> for CurrentAabb<'a> { | ||
| fn size_hint(&self) -> usize { | ||
| self.colliders.len() | ||
| } | ||
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| #[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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