avian3d::spatial_query

Struct SpatialQueryPipeline

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pub struct SpatialQueryPipeline { /* private fields */ }
Expand description

A resource for the spatial query pipeline.

The pipeline maintains a quaternary bounding volume hierarchy Qbvh of the world’s colliders as an acceleration structure for spatial queries.

Implementations§

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impl SpatialQueryPipeline

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pub fn new() -> SpatialQueryPipeline

Creates a new SpatialQueryPipeline.

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pub fn update<'a>( &mut self, colliders: impl Iterator<Item = (Entity, &'a Position, &'a Rotation, &'a Collider, Option<&'a CollisionLayers>)>, added_colliders: impl Iterator<Item = Entity>, )

Updates the associated acceleration structures with a new set of entities.

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pub fn cast_ray( &self, origin: Vector, direction: Dir3, max_distance: Scalar, solid: bool, filter: &SpatialQueryFilter, ) -> Option<RayHitData>

Casts a ray and computes the closest hit with a collider. If there are no hits, None is returned.

§Arguments
  • origin: Where the ray is cast from.
  • direction: What direction the ray is cast in.
  • max_distance: The maximum distance the ray can travel.
  • solid: If true and the ray origin is inside of a collider, the hit point will be the ray origin itself. Otherwise, the collider will be treated as hollow, and the hit point will be at its boundary.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
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pub fn cast_ray_predicate( &self, origin: Vector, direction: Dir3, max_distance: Scalar, solid: bool, filter: &SpatialQueryFilter, predicate: &dyn Fn(Entity) -> bool, ) -> Option<RayHitData>

Casts a ray and computes the closest hit with a collider. If there are no hits, None is returned.

§Arguments
  • origin: Where the ray is cast from.
  • direction: What direction the ray is cast in.
  • max_distance: The maximum distance the ray can travel.
  • solid: If true and the ray origin is inside of a collider, the hit point will be the ray origin itself. Otherwise, the collider will be treated as hollow, and the hit point will be at its boundary.
  • predicate: A function called on each entity hit by the ray. The ray keeps travelling until the predicate returns false.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
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pub fn ray_hits( &self, origin: Vector, direction: Dir3, max_distance: Scalar, max_hits: u32, solid: bool, filter: &SpatialQueryFilter, ) -> Vec<RayHitData>

Casts a ray and computes all hits until max_hits is reached.

Note that the order of the results is not guaranteed, and if there are more hits than max_hits, some hits will be missed.

§Arguments
  • origin: Where the ray is cast from.
  • direction: What direction the ray is cast in.
  • max_distance: The maximum distance the ray can travel.
  • max_hits: The maximum number of hits. Additional hits will be missed.
  • solid: If true and the ray origin is inside of a collider, the hit point will be the ray origin itself. Otherwise, the collider will be treated as hollow, and the hit point will be at its boundary.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
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pub fn ray_hits_callback( &self, origin: Vector, direction: Dir3, max_distance: Scalar, solid: bool, filter: &SpatialQueryFilter, callback: impl FnMut(RayHitData) -> bool, )

Casts a ray and computes all hits, calling the given callback for each hit. The raycast stops when callback returns false or all hits have been found.

Note that the order of the results is not guaranteed.

§Arguments
  • origin: Where the ray is cast from.
  • direction: What direction the ray is cast in.
  • max_distance: The maximum distance the ray can travel.
  • solid: If true and the ray origin is inside of a collider, the hit point will be the ray origin itself. Otherwise, the collider will be treated as hollow, and the hit point will be at its boundary.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
  • callback: A callback function called for each hit.
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pub fn cast_shape( &self, shape: &Collider, origin: Vector, shape_rotation: Quaternion, direction: Dir3, config: &ShapeCastConfig, filter: &SpatialQueryFilter, ) -> Option<ShapeHitData>

Casts a shape with a given rotation and computes the closest hit with a collider. If there are no hits, None is returned.

For a more ECS-based approach, consider using the ShapeCaster component instead.

§Arguments
  • shape: The shape being cast represented as a Collider.
  • origin: Where the shape is cast from.
  • shape_rotation: The rotation of the shape being cast.
  • direction: What direction the shape is cast in.
  • config: A ShapeCastConfig that determines the behavior of the cast.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
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pub fn cast_shape_predicate( &self, shape: &Collider, origin: Vector, shape_rotation: Quaternion, direction: Dir3, config: &ShapeCastConfig, filter: &SpatialQueryFilter, predicate: &dyn Fn(Entity) -> bool, ) -> Option<ShapeHitData>

Casts a shape with a given rotation and computes the closest hit with a collider. If there are no hits, None is returned.

For a more ECS-based approach, consider using the ShapeCaster component instead.

§Arguments
  • shape: The shape being cast represented as a Collider.
  • origin: Where the shape is cast from.
  • shape_rotation: The rotation of the shape being cast.
  • direction: What direction the shape is cast in.
  • config: A ShapeCastConfig that determines the behavior of the cast.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
  • predicate: A function called on each entity hit by the shape. The shape keeps travelling until the predicate returns false.
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pub fn shape_hits( &self, shape: &Collider, origin: Vector, shape_rotation: Quaternion, direction: Dir3, max_hits: u32, config: &ShapeCastConfig, filter: &SpatialQueryFilter, ) -> Vec<ShapeHitData>

Casts a shape with a given rotation and computes computes all hits in the order of distance until max_hits is reached.

§Arguments
  • shape: The shape being cast represented as a Collider.
  • origin: Where the shape is cast from.
  • shape_rotation: The rotation of the shape being cast.
  • direction: What direction the shape is cast in.
  • max_hits: The maximum number of hits. Additional hits will be missed.
  • config: A ShapeCastConfig that determines the behavior of the cast.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
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pub fn shape_hits_callback( &self, shape: &Collider, origin: Vector, shape_rotation: Quaternion, direction: Dir3, config: &ShapeCastConfig, filter: &SpatialQueryFilter, callback: impl FnMut(ShapeHitData) -> bool, )

Casts a shape with a given rotation and computes computes all hits in the order of distance, calling the given callback for each hit. The shapecast stops when callback returns false or all hits have been found.

§Arguments
  • shape: The shape being cast represented as a Collider.
  • origin: Where the shape is cast from.
  • shape_rotation: The rotation of the shape being cast.
  • direction: What direction the shape is cast in.
  • config: A ShapeCastConfig that determines the behavior of the cast.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
  • callback: A callback function called for each hit.
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pub fn project_point( &self, point: Vector, solid: bool, filter: &SpatialQueryFilter, ) -> Option<PointProjection>

Finds the projection of a given point on the closest collider. If one isn’t found, None is returned.

§Arguments
  • point: The point that should be projected.
  • solid: If true and the point is inside of a collider, the projection will be at the point. Otherwise, the collider will be treated as hollow, and the projection will be at the collider’s boundary.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
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pub fn project_point_predicate( &self, point: Vector, solid: bool, filter: &SpatialQueryFilter, predicate: &dyn Fn(Entity) -> bool, ) -> Option<PointProjection>

Finds the projection of a given point on the closest collider. If one isn’t found, None is returned.

§Arguments
  • point: The point that should be projected.
  • solid: If true and the point is inside of a collider, the projection will be at the point. Otherwise, the collider will be treated as hollow, and the projection will be at the collider’s boundary.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
  • predicate: A function for filtering which entities are considered in the query. The projection will be on the closest collider that passes the predicate.
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pub fn point_intersections( &self, point: Vector, filter: &SpatialQueryFilter, ) -> Vec<Entity>

An intersection test that finds all entities with a collider that contains the given point.

§Arguments
  • point: The point that intersections are tested against.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
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pub fn point_intersections_callback( &self, point: Vector, filter: &SpatialQueryFilter, callback: impl FnMut(Entity) -> bool, )

An intersection test that finds all entities with a collider that contains the given point, calling the given callback for each intersection. The search stops when callback returns false or all intersections have been found.

§Arguments
  • point: The point that intersections are tested against.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
  • callback: A callback function called for each intersection.
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pub fn aabb_intersections_with_aabb(&self, aabb: ColliderAabb) -> Vec<Entity>

An intersection test that finds all entities with a ColliderAabb that is intersecting the given aabb.

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pub fn aabb_intersections_with_aabb_callback( &self, aabb: ColliderAabb, callback: impl FnMut(Entity) -> bool, )

An intersection test that finds all entities with a ColliderAabb that is intersecting the given aabb, calling callback for each intersection. The search stops when callback returns false or all intersections have been found.

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pub fn shape_intersections( &self, shape: &Collider, shape_position: Vector, shape_rotation: Quaternion, filter: &SpatialQueryFilter, ) -> Vec<Entity>

An intersection test that finds all entities with a Collider that is intersecting the given shape with a given position and rotation.

§Arguments
  • shape: The shape that intersections are tested against represented as a Collider.
  • shape_position: The position of the shape.
  • shape_rotation: The rotation of the shape.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
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pub fn shape_intersections_callback( &self, shape: &Collider, shape_position: Vector, shape_rotation: Quaternion, filter: &SpatialQueryFilter, callback: impl FnMut(Entity) -> bool, )

An intersection test that finds all entities with a Collider that is intersecting the given shape with a given position and rotation, calling callback for each intersection. The search stops when callback returns false or all intersections have been found.

§Arguments
  • shape: The shape that intersections are tested against represented as a Collider.
  • shape_position: The position of the shape.
  • shape_rotation: The rotation of the shape.
  • filter: A SpatialQueryFilter that determines which colliders are taken into account in the query.
  • callback: A callback function called for each intersection.

Trait Implementations§

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impl Clone for SpatialQueryPipeline

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fn clone(&self) -> SpatialQueryPipeline

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Default for SpatialQueryPipeline

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl Resource for SpatialQueryPipeline
where Self: Send + Sync + 'static,

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