Struct RapierQueryPipeline 

pub struct RapierQueryPipeline<'a> {
    pub query_pipeline: QueryPipeline<'a>,
}

Wrapper around QueryPipeline to provide bevy friendly methods.

This wrapper is designed to be short lived, made whenever necessary.

See RapierQueryPipeline::new_scoped to create one.

Fields

query_pipeline: QueryPipeline<'a>

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

Implementations

impl<'a> RapierQueryPipeline<'a>

pub fn new_scoped<T>( broad_phase: &DefaultBroadPhase, colliders: &RapierContextColliders, rigid_bodies: &RapierRigidBodySet, filter: &QueryFilter<'_>, dispatcher: &dyn QueryDispatcher, scoped_fn: impl FnOnce(RapierQueryPipeline<'_>) -> T, ) -> T

Creates a temporary RapierQueryPipeline and passes it as a parameter to scoped_fn.

pub fn collider_entity(&self, collider_handle: ColliderHandle) -> Entity

Retrieves the Entity for a given collider handle.

pub fn cast_ray( &self, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, ) -> 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.

pub fn cast_ray_and_get_normal( &self, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, ) -> 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.

pub fn intersect_ray( &'a self, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, ) -> impl Iterator<Item = (Entity, RayIntersection)> + 'a

Iterates through all the colliders intersecting a given ray.

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.

pub fn intersect_shape( &'a self, shape_pos: Vect, shape_rot: Rot, shape: &'a dyn Shape, ) -> impl Iterator<Item = Entity> + 'a

Retrieve all the colliders 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.

pub fn project_point( &self, point: Vect, max_dist: f32, solid: bool, ) -> 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).

pub fn intersect_point( &'a self, point: Vect, ) -> impl Iterator<Item = Entity> + 'a

Find all the colliders containing the given point.

Parameters

• point - The point used for the containment test.

pub fn project_point_and_get_feature( &self, point: Vect, ) -> 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).

pub fn intersect_aabb_conservative( &'a self, aabb: Aabb3d, ) -> impl Iterator<Item = Entity> + 'a

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

Note that the collider AABB taken into account is the one currently stored in the query pipeline’s BVH. It doesn’t recompute the latest collider AABB.

pub fn cast_shape( &'a self, shape_pos: Vect, shape_rot: Rot, shape_vel: Vect, shape: &dyn Shape, options: ShapeCastOptions, ) -> 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.

Trait Implementations

impl<'a> Clone for RapierQueryPipeline<'a>

fn clone(&self) -> RapierQueryPipeline<'a>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<'a> Copy for RapierQueryPipeline<'a>