Struct RapierQueryPipeline

pub struct RapierQueryPipeline {
    pub query_pipeline: QueryPipeline,
}

The query pipeline, which performs scene queries (ray-casting, point projection, etc.)

This should be attached on an entity with a RapierContext

Fields

query_pipeline: QueryPipeline

The query pipeline, which performs scene queries (ray-casting, point projection, etc.)

Implementations

impl RapierQueryPipeline

pub fn update_query_pipeline(&mut self, colliders: &RapierContextColliders)

Updates the state of the query pipeline, based on the collider positions known from the last timestep or the last call to self.propagate_modified_body_positions_to_colliders().

pub fn cast_ray( &self, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, filter: QueryFilter<'_>, ) -> Option<(Entity, f32)>

Find the closest intersection between a ray and a set of collider.

Parameters

• ray_origin: the starting point of the ray to cast.
• ray_dir: the direction of 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.
• filter: set of rules used to determine which collider is taken into account by this scene query.

pub fn cast_ray_and_get_normal( &self, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, filter: QueryFilter<'_>, ) -> Option<(Entity, RayIntersection)>

Find the closest intersection between a ray and a set of collider.

Parameters

• ray_origin: the starting point of the ray to cast.
• ray_dir: the direction of 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.
• filter: set of rules used to determine which collider is taken into account by this scene query.

pub fn intersections_with_ray( &self, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, filter: QueryFilter<'_>, callback: impl FnMut(Entity, RayIntersection) -> bool, )

Find the all intersections between a ray and a set of collider and passes them to a callback.

Parameters

• ray_origin: the starting point of the ray to cast.
• ray_dir: the direction of 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.
• filter: set of rules used to determine which collider is taken into account by this scene query.
• 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, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, shape_pos: Vect, shape_rot: Rot, shape: &Collider, filter: QueryFilter<'_>, ) -> Option<Entity>

Gets the handle of up to one collider intersecting the given shape.

Parameters

• shape_pos - The position of the shape used for the intersection test.
• shape - The shape used for the intersection test.
• filter: set of rules used to determine which collider is taken into account by this scene query.

pub fn project_point( &self, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, point: Vect, solid: bool, filter: QueryFilter<'_>, ) -> Option<(Entity, PointProjection)>

Find the projection of a point on the closest collider.

Parameters

• 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).
• filter: set of rules used to determine which collider is taken into account by this scene query.

pub fn intersections_with_point( &self, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, point: Vect, filter: QueryFilter<'_>, callback: impl FnMut(Entity) -> bool, )

Find all the colliders containing the given point.

Parameters

• point - The point used for the containment test.
• filter: set of rules used to determine which collider is taken into account by this scene query.
• callback - A function called with each collider with a shape containing the point. If this callback returns false, this method will exit early, ignore any further point projection.

pub fn project_point_and_get_feature( &self, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, point: Vect, filter: QueryFilter<'_>, ) -> Option<(Entity, 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

• 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).
• filter: set of rules used to determine which collider is taken into account by this scene query.

pub fn colliders_with_aabb_intersecting_aabb( &self, rapier_colliders: &RapierContextColliders, aabb: Aabb3d, callback: impl FnMut(Entity) -> bool, )

Finds all entities of all the colliders with an Aabb intersecting the given Aabb.

pub fn cast_shape( &self, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, shape_pos: Vect, shape_rot: Rot, shape_vel: Vect, shape: &Collider, options: ShapeCastOptions, filter: QueryFilter<'_>, ) -> Option<(Entity, ShapeCastHit)>

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). In the resulting ShapeCastHit, witness and normal 1 refer to the world collider, and are in world space.

Parameters

• shape_pos - The initial translation of the shape to cast.
• shape_rot - The rotation 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 shape_vel.norm() * maxToi.
• 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.
• filter: set of rules used to determine which collider is taken into account by this scene query.

pub fn intersections_with_shape( &self, rapier_colliders: &RapierContextColliders, rigidbody_set: &RapierRigidBodySet, shape_pos: Vect, shape_rot: Rot, shape: &Collider, filter: QueryFilter<'_>, callback: impl FnMut(Entity) -> bool, )

Retrieve all the colliders intersecting the given shape.

Parameters

• shapePos - The position of the shape to test.
• shapeRot - The orientation of the shape to test.
• shape - The shape to test.
• filter: set of rules used to determine which collider is taken into account by this scene query.
• callback - A function called with the entities of each collider intersecting the shape.

pub fn with_query_filter_elts<T>( entity2collider: &HashMap<Entity, ColliderHandle>, entity2body: &HashMap<Entity, RigidBodyHandle>, colliders: &ColliderSet, filter: QueryFilter<'_>, f: impl FnOnce(RapierQueryFilter<'_>) -> T, ) -> T

Without borrowing the RapierContext, calls the closure f once after converting the given QueryFilter into a raw RapierQueryFilter.

Trait Implementations

impl Clone for RapierQueryPipeline

fn clone(&self) -> RapierQueryPipeline

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Component for RapierQueryPipeline

where Self: Send + Sync + 'static,

const STORAGE_TYPE: StorageType = bevy::ecs::component::StorageType::Table

A constant indicating the storage type used for this component.

fn register_required_components( requiree: ComponentId, components: &mut Components, storages: &mut Storages, required_components: &mut RequiredComponents, inheritance_depth: u16, )

Registers required components.

fn register_component_hooks(hooks: &mut ComponentHooks)

Called when registering this component, allowing mutable access to its ComponentHooks.

impl Default for RapierQueryPipeline

fn default() -> RapierQueryPipeline

Returns the “default value” for a type.