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//! Functionality for performing ray casts, shape casts, and other spatial queries.
//!
//! Spatial queries query the world for geometric information about [`Collider`s](Collider)
//! and various types of intersections. Currently, four types of spatial queries are supported:
//!
//! - [Raycasts](#raycasting)
//! - [Shapecasts](#shapecasting),
//! - [Point projection](#point-projection)
//! - [Intersection tests](#intersection-tests)
//!
//! All spatial queries can be done using the various methods provided by the [`SpatialQuery`] system parameter.
//!
//! Raycasting and shapecasting can also be done with a component-based approach using the [`RayCaster`] and
//! [`ShapeCaster`] components. They enable performing casts every frame in a way that is often more convenient
//! than the normal [`SpatialQuery`] methods. See their documentation for more information.
//!
//! ## Raycasting
//!
//! **Raycasting** is a spatial query that finds intersections between colliders and a half-line. This can be used for
//! a variety of things like getting information about the environment for character controllers and AI,
//! and even rendering using ray tracing.
//!
//! For each hit during raycasting, the hit entity, a *time of impact* and a normal will be stored in [`RayHitData`].
//! The time of impact refers to how long the ray travelled, which is essentially the distance from the ray origin to
//! the point of intersection.
//!
//! There are two ways to perform raycasts.
//!
//! 1. For simple raycasts, use the [`RayCaster`] component. It returns the results of the raycast
//! in the [`RayHits`] component every frame. It uses local coordinates, so it will automatically follow the entity
//! it's attached to or its parent.
//! 2. When you need more control or don't want to cast every frame, use the raycasting methods provided by
//! [`SpatialQuery`], like [`cast_ray`](SpatialQuery::cast_ray), [`ray_hits`](SpatialQuery::ray_hits) or
//! [`ray_hits_callback`](SpatialQuery::ray_hits_callback).
//!
//! See the documentation of the components and methods for more information.
//!
//! A simple example using the component-based method looks like this:
//!
//! ```
//! # #[cfg(feature = "2d")]
//! # use avian2d::prelude::*;
//! # #[cfg(feature = "3d")]
//! use avian3d::prelude::*;
//! use bevy::prelude::*;
//!
//! # #[cfg(all(feature = "3d", feature = "f32"))]
//! fn setup(mut commands: Commands) {
//! // Spawn a ray caster at the center with the rays travelling right
//! commands.spawn(RayCaster::new(Vec3::ZERO, Dir3::X));
//! // ...spawn colliders and other things
//! }
//!
//! # #[cfg(all(feature = "3d", feature = "f32"))]
//! fn print_hits(query: Query<(&RayCaster, &RayHits)>) {
//! for (ray, hits) in &query {
//! // For the faster iterator that isn't sorted, use `.iter()`
//! for hit in hits.iter_sorted() {
//! println!(
//! "Hit entity {:?} at {} with normal {}",
//! hit.entity,
//! ray.origin + *ray.direction * hit.time_of_impact,
//! hit.normal,
//! );
//! }
//! }
//! }
//! ```
//!
//! To specify which colliders should be considered in the query, use a [spatial query filter](`SpatialQueryFilter`).
//!
//! ## Shapecasting
//!
//! **Shapecasting** or **sweep testing** is a spatial query that finds intersections between colliders and a shape
//! that is travelling along a half-line. It is very similar to [raycasting](#raycasting), but instead of a "point"
//! we have an entire shape travelling along a half-line. One use case is determining how far an object can move
//! before it hits the environment.
//!
//! For each hit during shapecasting, the hit entity, the *time of impact*, two local points of intersection and two local
//! normals will be stored in [`ShapeHitData`]. The time of impact refers to how long the shape travelled before the initial
//! hit, which is essentially the distance from the shape origin to the global point of intersection.
//!
//! There are two ways to perform shapecasts.
//!
//! 1. For simple shapecasts, use the [`ShapeCaster`] component. It returns the results of the shapecast
//! in the [`ShapeHits`] component every frame. It uses local coordinates, so it will automatically follow the entity
//! it's attached to or its parent.
//! 2. When you need more control or don't want to cast every frame, use the shapecasting methods provided by
//! [`SpatialQuery`], like [`cast_shape`](SpatialQuery::cast_shape), [`shape_hits`](SpatialQuery::shape_hits) or
//! [`shape_hits_callback`](SpatialQuery::shape_hits_callback).
//!
//! See the documentation of the components and methods for more information.
//!
//! A simple example using the component-based method looks like this:
//!
//! ```
//! # #[cfg(feature = "2d")]
//! # use avian2d::prelude::*;
//! # #[cfg(feature = "3d")]
//! use avian3d::prelude::*;
//! use bevy::prelude::*;
//!
//! # #[cfg(all(feature = "3d", feature = "f32"))]
//! fn setup(mut commands: Commands) {
//! // Spawn a shape caster with a sphere shape at the center travelling right
//! commands.spawn(ShapeCaster::new(
//! Collider::sphere(0.5), // Shape
//! Vec3::ZERO, // Origin
//! Quat::default(), // Shape rotation
//! Dir3::X // Direction
//! ));
//! // ...spawn colliders and other things
//! }
//!
//! fn print_hits(query: Query<(&ShapeCaster, &ShapeHits)>) {
//! for (shape_caster, hits) in &query {
//! for hit in hits.iter() {
//! println!("Hit entity {:?}", hit.entity);
//! }
//! }
//! }
//! ```
//!
//! To specify which colliders should be considered in the query, use a [spatial query filter](`SpatialQueryFilter`).
//!
//! ## Point projection
//!
//! **Point projection** is a spatial query that projects a point on the closest collider. It returns the collider's
//! entity, the projected point, and whether the point is inside of the collider.
//!
//! Point projection can be done with the [`project_point`](SpatialQuery::project_point) method of the [`SpatialQuery`]
//! system parameter. See its documentation for more information.
//!
//! To specify which colliders should be considered in the query, use a [spatial query filter](`SpatialQueryFilter`).
//!
//! ## Intersection tests
//!
//! **Intersection tests** are spatial queries that return the entities of colliders that are intersecting a given
//! shape or area.
//!
//! There are three types of intersection tests. They are all methods of the [`SpatialQuery`] system parameter,
//! and they all have callback variants that call a given callback on each intersection.
//!
//! - [`point_intersections`](SpatialQuery::point_intersections): Finds all entities with a collider that contains
//! the given point.
//! - [`aabb_intersections_with_aabb`](SpatialQuery::aabb_intersections_with_aabb):
//! Finds all entities with a [`ColliderAabb`] that is intersecting the given [`ColliderAabb`].
//! - [`shape_intersections`](SpatialQuery::shape_intersections): Finds all entities with a [collider](Collider)
//! that is intersecting the given shape.
//!
//! See the documentation of the components and methods for more information.
//!
//! To specify which colliders should be considered in the query, use a [spatial query filter](`SpatialQueryFilter`).
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
mod pipeline;
mod query_filter;
mod ray_caster;
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
mod shape_caster;
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
mod system_param;
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
pub use pipeline::*;
pub use query_filter::*;
pub use ray_caster::*;
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
pub use shape_caster::*;
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
pub use system_param::*;
use crate::{prelude::*, prepare::PrepareSet};
use bevy::{
ecs::{intern::Interned, schedule::ScheduleLabel},
prelude::*,
};
/// Initializes the [`SpatialQueryPipeline`] resource and handles component-based [spatial queries](spatial_query)
/// like [raycasting](spatial_query#raycasting) and [shapecasting](spatial_query#shapecasting) with
/// [`RayCaster`] and [`ShapeCaster`].
pub struct SpatialQueryPlugin {
schedule: Interned<dyn ScheduleLabel>,
}
impl SpatialQueryPlugin {
/// Creates a [`SpatialQueryPlugin`] with the schedule that is used for running the [`PhysicsSchedule`].
///
/// The default schedule is `PostUpdate`.
pub fn new(schedule: impl ScheduleLabel) -> Self {
Self {
schedule: schedule.intern(),
}
}
}
impl Default for SpatialQueryPlugin {
fn default() -> Self {
Self::new(PostUpdate)
}
}
impl Plugin for SpatialQueryPlugin {
fn build(&self, app: &mut App) {
#[cfg(all(
feature = "default-collider",
any(feature = "parry-f32", feature = "parry-f64")
))]
app.init_resource::<SpatialQueryPipeline>();
app.add_systems(self.schedule, init_ray_hits.in_set(PrepareSet::PreInit));
#[cfg(all(
feature = "default-collider",
any(feature = "parry-f32", feature = "parry-f64")
))]
app.add_systems(self.schedule, init_shape_hits.in_set(PrepareSet::PreInit));
let physics_schedule = app
.get_schedule_mut(PhysicsSchedule)
.expect("add PhysicsSchedule first");
physics_schedule.add_systems(
(
update_ray_caster_positions,
#[cfg(all(
feature = "default-collider",
any(feature = "parry-f32", feature = "parry-f64")
))]
(
update_shape_caster_positions,
|mut spatial_query: SpatialQuery| spatial_query.update_pipeline(),
raycast,
shapecast,
)
.chain(),
)
.chain()
.in_set(PhysicsStepSet::SpatialQuery),
);
}
}
fn init_ray_hits(mut commands: Commands, rays: Query<(Entity, &RayCaster), Added<RayCaster>>) {
for (entity, ray) in &rays {
let max_hits = if ray.max_hits == u32::MAX {
10
} else {
ray.max_hits as usize
};
commands.entity(entity).try_insert(RayHits {
vector: Vec::with_capacity(max_hits),
count: 0,
});
}
}
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
fn init_shape_hits(
mut commands: Commands,
shape_casters: Query<(Entity, &ShapeCaster), Added<ShapeCaster>>,
) {
for (entity, shape_caster) in &shape_casters {
commands.entity(entity).try_insert(ShapeHits {
vector: Vec::with_capacity(shape_caster.max_hits.min(100_000) as usize),
count: 0,
});
}
}
type RayCasterPositionQueryComponents = (
&'static mut RayCaster,
Option<&'static Position>,
Option<&'static Rotation>,
Option<&'static Parent>,
Option<&'static GlobalTransform>,
);
#[allow(clippy::type_complexity)]
fn update_ray_caster_positions(
mut rays: Query<RayCasterPositionQueryComponents>,
parents: Query<
(
Option<&Position>,
Option<&Rotation>,
Option<&GlobalTransform>,
),
With<Children>,
>,
) {
for (mut ray, position, rotation, parent, transform) in &mut rays {
let origin = ray.origin;
let direction = ray.direction;
let global_position = position.copied().or(transform.map(Position::from));
let global_rotation = rotation.copied().or(transform.map(Rotation::from));
if let Some(global_position) = global_position {
ray.set_global_origin(global_position.0 + rotation.map_or(origin, |rot| rot * origin));
} else if parent.is_none() {
ray.set_global_origin(origin);
}
if let Some(global_rotation) = global_rotation {
let global_direction = global_rotation * ray.direction;
ray.set_global_direction(global_direction);
} else if parent.is_none() {
ray.set_global_direction(direction);
}
if let Some(Ok((parent_position, parent_rotation, parent_transform))) =
parent.map(|p| parents.get(p.get()))
{
let parent_position = parent_position
.copied()
.or(parent_transform.map(Position::from));
let parent_rotation = parent_rotation
.copied()
.or(parent_transform.map(Rotation::from));
// Apply parent transformations
if global_position.is_none() {
if let Some(position) = parent_position {
let rotation = global_rotation.unwrap_or(parent_rotation.unwrap_or_default());
ray.set_global_origin(position.0 + rotation * origin);
}
}
if global_rotation.is_none() {
if let Some(rotation) = parent_rotation {
let global_direction = rotation * ray.direction;
ray.set_global_direction(global_direction);
}
}
}
}
}
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
type ShapeCasterPositionQueryComponents = (
&'static mut ShapeCaster,
Option<&'static Position>,
Option<&'static Rotation>,
Option<&'static Parent>,
Option<&'static GlobalTransform>,
);
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
#[allow(clippy::type_complexity)]
fn update_shape_caster_positions(
mut shape_casters: Query<ShapeCasterPositionQueryComponents>,
parents: Query<
(
Option<&Position>,
Option<&Rotation>,
Option<&GlobalTransform>,
),
With<Children>,
>,
) {
for (mut shape_caster, position, rotation, parent, transform) in &mut shape_casters {
let origin = shape_caster.origin;
let shape_rotation = shape_caster.shape_rotation;
let direction = shape_caster.direction;
let global_position = position.copied().or(transform.map(Position::from));
let global_rotation = rotation.copied().or(transform.map(Rotation::from));
if let Some(global_position) = global_position {
shape_caster
.set_global_origin(global_position.0 + rotation.map_or(origin, |rot| rot * origin));
} else if parent.is_none() {
shape_caster.set_global_origin(origin);
}
if let Some(global_rotation) = global_rotation {
let global_direction = global_rotation * shape_caster.direction;
shape_caster.set_global_direction(global_direction);
#[cfg(feature = "2d")]
{
shape_caster
.set_global_shape_rotation(shape_rotation + global_rotation.as_radians());
}
#[cfg(feature = "3d")]
{
shape_caster.set_global_shape_rotation(shape_rotation * global_rotation.0);
}
} else if parent.is_none() {
shape_caster.set_global_direction(direction);
#[cfg(feature = "2d")]
{
shape_caster.set_global_shape_rotation(shape_rotation);
}
#[cfg(feature = "3d")]
{
shape_caster.set_global_shape_rotation(shape_rotation);
}
}
if let Some(Ok((parent_position, parent_rotation, parent_transform))) =
parent.map(|p| parents.get(p.get()))
{
let parent_position = parent_position
.copied()
.or(parent_transform.map(Position::from));
let parent_rotation = parent_rotation
.copied()
.or(parent_transform.map(Rotation::from));
// Apply parent transformations
if global_position.is_none() {
if let Some(position) = parent_position {
let rotation = global_rotation.unwrap_or(parent_rotation.unwrap_or_default());
shape_caster.set_global_origin(position.0 + rotation * origin);
}
}
if global_rotation.is_none() {
if let Some(rotation) = parent_rotation {
let global_direction = rotation * shape_caster.direction;
shape_caster.set_global_direction(global_direction);
#[cfg(feature = "2d")]
{
shape_caster
.set_global_shape_rotation(shape_rotation + rotation.as_radians());
}
#[cfg(feature = "3d")]
{
shape_caster.set_global_shape_rotation(shape_rotation * rotation.0);
}
}
}
}
}
}
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
fn raycast(mut rays: Query<(Entity, &RayCaster, &mut RayHits)>, spatial_query: SpatialQuery) {
for (entity, ray, mut hits) in &mut rays {
if ray.enabled {
ray.cast(entity, &mut hits, &spatial_query.query_pipeline);
} else if !hits.is_empty() {
hits.clear();
}
}
}
#[cfg(any(feature = "parry-f32", feature = "parry-f64"))]
fn shapecast(
mut shape_casters: Query<(Entity, &ShapeCaster, &mut ShapeHits)>,
spatial_query: SpatialQuery,
) {
for (entity, shape_caster, mut hits) in &mut shape_casters {
if shape_caster.enabled {
shape_caster.cast(entity, &mut hits, &spatial_query.query_pipeline);
} else if !hits.is_empty() {
hits.clear();
}
}
}