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, &'a RapierCollider, RayIntersection)> + 'a

Iterates through all the colliders intersecting a given ray, alongside their Rapier 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_shape( &'a self, shape_pos: Vect, shape_rot: Rot, shape: &'a (impl AsShape + ?Sized + 'a), ) -> impl Iterator<Item = (Entity, &'a RapierCollider)> + 'a

Retrieve all the colliders intersecting the given shape, alongside their Rapier collider.

Parameters

• shape_pos - The position of the shape used for the intersection test.
• shape_rot - The orientation 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.
• max_dist - The maximum distance between the point and its projection. Colliders further than this distance are ignored.
• 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 RapierCollider)> + 'a

Find all the colliders containing the given point, alongside their Rapier collider.

Parameters

• point - The point used for the containment test.

pub fn project_point_and_get_feature( &self, point: Vect, max_dist: f32, ) -> Option<(Entity, PointProjection, FeatureId)>

Find the projection of a point on the boundary of the closest collider.

The results include the ID of the feature hit by the point.

Parameters

• point - The point to project.
• max_dist - The maximum distance between the point and its projection. Colliders further than this distance are ignored. Use Real::MAX for an unbounded search.

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

Finds all the colliders with an Aabb intersecting the given Aabb, alongside their Rapier collider.

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: &(impl AsShape + ?Sized), 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 collider hit and are in world-space, while witness and normal 2 refer to the cast shape and are in its local-space (see ShapeCastHitDetails).

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.

pub fn cast_shape_nonlinear( &self, shape_motion: &NonlinearMotion, shape: &(impl AsShape + ?Sized), start_time: f32, end_time: f32, stop_at_penetration: bool, ) -> Option<(Entity, ShapeCastHit)>

Casts a shape with an arbitrary continuous motion and retrieve the first collider it hits.

In the resulting ShapeCastHit, witness and normal 1 refer to the collider hit and are in world-space, while witness and normal 2 refer to the cast shape and are in its local-space.

Parameters

• shape_motion - The motion of the shape.
• shape - The shape to cast.
• start_time - The starting time of the interval where the motion takes place.
• end_time - The end time of the interval where the motion takes place.
• 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.

pub fn distance_to_shape( &self, shape_pos: Vect, shape_rot: Rot, shape: &(impl AsShape + ?Sized), ) -> Option<(Entity, f32)>

Computes the smallest distance between the given shape and the closest collider.

Returns the entity of the closest collider alongside that distance, which is 0.0 if they are intersecting. Returns None if no collider passes the query filter.

Parameters

• shape_pos - The translation of the shape.
• shape_rot - The rotation of the shape.
• shape - The shape to compute the distance from.

pub fn closest_points_to_shape( &self, shape_pos: Vect, shape_rot: Rot, shape: &(impl AsShape + ?Sized), max_dist: f32, ) -> Option<(Entity, ShapeClosestPoints)>

Computes the closest points between the given shape and the closest collider.

Returns the entity of the closest collider alongside the closest points. In ShapeClosestPoints::WithinMargin, the first point is on the collider and the second point is on shape, both in world-space. Returns None if no collider lies within max_dist of shape.

Parameters

• shape_pos - The translation of the shape.
• shape_rot - The rotation of the shape.
• shape - The shape to compute the closest points from.
• max_dist - Colliders further than this distance from shape are ignored.

pub fn contact_with_shape( &self, shape_pos: Vect, shape_rot: Rot, shape: &(impl AsShape + ?Sized), prediction: f32, ) -> Option<(Entity, ShapeContact)>

Computes the contact between the given shape and the closest (or deepest penetrating) collider.

Returns the entity of that collider alongside the contact, where the first shape is the collider and the second shape is shape; contact points and normals are in world-space. Returns None if no collider lies within prediction of shape.

Parameters

• shape_pos - The translation of the shape.
• shape_rot - The rotation of the shape.
• shape - The shape to compute the contact with.
• prediction - Colliders further than this distance from shape are ignored.

pub fn bvh(&self) -> &'a Bvh

The bounding volume hierarchy containing the world-space AABB of every collider.

This can be used for custom scene traversals. Each leaf index identifies a collider and can be resolved with Self::bvh_leaf_collider. Note that the BVH itself ignores the query filter.

pub fn bvh_leaf_collider( &self, leaf: u32, ) -> Option<(Entity, &'a RapierCollider)>

Retrieves the entity and Rapier collider identified by a leaf index of Self::bvh.

Returns None if the collider doesn’t exist or is rejected by the query filter.

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>