Struct QueryPipeline

pub struct QueryPipeline<'a> {
    pub dispatcher: &'a dyn QueryDispatcher,
    pub bvh: &'a Bvh,
    pub bodies: &'a RigidBodySet,
    pub colliders: &'a ColliderSet,
    pub filter: QueryFilter<'a>,
}

The query pipeline responsible for running scene queries on the physics world.

This structure is generally obtained by calling BroadPhaseBvh::as_query_pipeline_mut.

Fields

dispatcher: &'a dyn QueryDispatcher

The query dispatcher for running geometric queries on leaf geometries.

bvh: &'a Bvh

A bvh containing collider indices at its leaves.

bodies: &'a RigidBodySet

Rigid-bodies potentially involved in the scene queries.

colliders: &'a ColliderSet

Colliders potentially involved in the scene queries.

filter: QueryFilter<'a>

The query filters for controlling what colliders should be ignored by the queries.

Implementations

impl<'a> QueryPipeline<'a>

pub fn with_filter(self, filter: QueryFilter<'a>) -> Self

Replaces Self::filter with different filtering rules.

pub fn cast_ray( &self, ray: &Ray, max_toi: f32, solid: bool, ) -> Option<(ColliderHandle, f32)>

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

Parameters

• colliders - The set of colliders taking part in this pipeline.
• ray: 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 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, ray: &Ray, max_toi: f32, solid: bool, ) -> Option<(ColliderHandle, RayIntersection)>

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

Parameters

• colliders - The set of colliders taking part in this pipeline.
• ray: 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 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 intersect_ray( &'a self, ray: Ray, max_toi: f32, solid: bool, ) -> impl Iterator<Item = (ColliderHandle, &'a Collider, RayIntersection)> + 'a

Iterates through all the colliders intersecting a given ray.

Parameters

• colliders - The set of colliders taking part in this pipeline.
• ray: 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 a shape. If this false then the ray will hit the shape’s boundary even if its starts inside of it.

pub fn project_point( &self, point: &Point<f32>, _max_dist: f32, solid: bool, ) -> Option<(ColliderHandle, 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: Point<f32>, ) -> impl Iterator<Item = (ColliderHandle, &'a Collider)> + '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: &Point<f32>, ) -> Option<(ColliderHandle, 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.

pub fn intersect_aabb_conservative( &'a self, aabb: Aabb, ) -> impl Iterator<Item = (ColliderHandle, &'a Collider)> + '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( &self, shape_pos: &Isometry<f32>, shape_vel: &Vector<f32>, shape: &dyn Shape, options: ShapeCastOptions, ) -> Option<(ColliderHandle, 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 TOI, witness and normal 1 refer to the world collider, and are in world space.

Parameters

• shape_pos - The initial position 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.
• options - Options controlling the shape cast limits and behavior.

pub fn cast_shape_nonlinear( &self, shape_motion: &NonlinearRigidMotion, shape: &dyn Shape, start_time: f32, end_time: f32, stop_at_penetration: bool, ) -> Option<(ColliderHandle, ShapeCastHit)>

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

In the resulting TOI, witness and normal 1 refer to the world collider, and are in world 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 with respect to 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 intersect_shape( &'a self, shape_pos: Isometry<f32>, shape: &'a dyn Shape, ) -> impl Iterator<Item = (ColliderHandle, &'a Collider)> + 'a

Retrieve all the colliders intersecting the given shape.

Parameters

• shapePos - The pose of the shape to test.
• shape - The shape to test.

Trait Implementations

impl<'a> Clone for QueryPipeline<'a>

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

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl CompositeShape for QueryPipeline<'_>

fn map_part_at( &self, shape_id: u32, f: &mut dyn FnMut(Option<&Isometry<f32>>, &dyn Shape, Option<&dyn NormalConstraints>), )

Applies a function to one sub-shape of this composite shape.

fn bvh(&self) -> &Bvh

Gets the acceleration structure of the composite shape.

impl TypedCompositeShape for QueryPipeline<'_>

type PartNormalConstraints = ()

type PartShape = dyn Shape

fn map_typed_part_at<T>( &self, shape_id: u32, f: impl FnMut(Option<&Isometry<f32>>, &Self::PartShape, Option<&Self::PartNormalConstraints>) -> T, ) -> Option<T>

fn map_untyped_part_at<T>( &self, shape_id: u32, f: impl FnMut(Option<&Isometry<f32>>, &dyn Shape, Option<&dyn NormalConstraints>) -> T, ) -> Option<T>

impl<'a> Copy for QueryPipeline<'a>