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Merged
sebcrozet merged 1 commit into from
Jul 24, 2025
Merged

Changed some API to be more library friendly #863

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2 changes: 1 addition & 1 deletion examples2d/debug_intersection2.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ pub fn init_world(testbed: &mut Testbed) {
);

for intersection in query_pipeline.intersect_shape(
&Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
&Ball::new(rad / 2.0),
) {
if let Some(graphics) = graphics.as_deref_mut() {
Expand Down
4 changes: 2 additions & 2 deletions examples2d/utils/character.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,7 @@ fn update_kinematic_controller(
let Some(broad_phase) = phx.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
return;
};
let query_pipeline = broad_phase.as_query_pipeline_mut(
let mut query_pipeline = broad_phase.as_query_pipeline_mut(
phx.narrow_phase.query_dispatcher(),
&mut phx.bodies,
&mut phx.colliders,
Expand All @@ -165,7 +165,7 @@ fn update_kinematic_controller(

controller.solve_character_collision_impulses(
phx.integration_parameters.dt,
query_pipeline,
&mut query_pipeline,
&*character_shape,
character_mass,
&*collisions,
Expand Down
4 changes: 2 additions & 2 deletions examples3d/utils/character.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -150,7 +150,7 @@ fn update_kinematic_controller(
let Some(broad_phase) = phx.broad_phase.downcast_ref::<BroadPhaseBvh>() else {
return;
};
let query_pipeline = broad_phase.as_query_pipeline_mut(
let mut query_pipeline = broad_phase.as_query_pipeline_mut(
phx.narrow_phase.query_dispatcher(),
&mut phx.bodies,
&mut phx.colliders,
Expand All @@ -175,7 +175,7 @@ fn update_kinematic_controller(

controller.solve_character_collision_impulses(
phx.integration_parameters.dt,
query_pipeline,
&mut query_pipeline,
&*character_shape,
character_mass,
&*collisions,
Expand Down
11 changes: 4 additions & 7 deletions src/control/character_controller.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -423,7 +423,7 @@ impl KinematicCharacterController {

let mut grounded = false;

'outer: for (_, collider) in queries.intersect_aabb_conservative(&character_aabb) {
'outer: for (_, collider) in queries.intersect_aabb_conservative(character_aabb) {
manifolds.clear();
let pos12 = character_pos.inv_mul(collider.position());
let _ = dispatcher.contact_manifolds(
Expand Down Expand Up @@ -770,15 +770,15 @@ impl KinematicCharacterController {
pub fn solve_character_collision_impulses<'a>(
&self,
dt: Real,
mut queries: QueryPipelineMut,
queries: &mut QueryPipelineMut,
character_shape: &dyn Shape,
character_mass: Real,
collisions: impl IntoIterator<Item = &'a CharacterCollision>,
) {
for collision in collisions {
self.solve_single_character_collision_impulse(
dt,
&mut queries,
queries,
character_shape,
character_mass,
collision,
Expand Down Expand Up @@ -813,10 +813,7 @@ impl KinematicCharacterController {
.compute_aabb(&collision.character_pos)
.loosened(prediction);

for (_, collider) in queries
.as_ref()
.intersect_aabb_conservative(&character_aabb)
{
for (_, collider) in queries.as_ref().intersect_aabb_conservative(character_aabb) {
if let Some(parent) = collider.parent {
if let Some(body) = queries.bodies.get(parent.handle) {
if body.is_dynamic() {
Expand Down
6 changes: 3 additions & 3 deletions src/dynamics/ccd/ccd_solver.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -168,7 +168,7 @@ impl CCDSolver {
.shape
.compute_swept_aabb(&co1.pos, &predicted_collider_pos1);

for (ch2, _) in query_pipeline.intersect_aabb_conservative(&aabb1) {
for (ch2, _) in query_pipeline.intersect_aabb_conservative(aabb1) {
if *ch1 == ch2 {
// Ignore self-intersection.
continue;
Expand Down Expand Up @@ -301,7 +301,7 @@ impl CCDSolver {
.shape
.compute_swept_aabb(&co1.pos, &predicted_collider_pos1);

for (ch2, _) in query_pipeline.intersect_aabb_conservative(&aabb1) {
for (ch2, _) in query_pipeline.intersect_aabb_conservative(aabb1) {
if *ch1 == ch2 {
// Ignore self-intersection.
continue;
Expand Down Expand Up @@ -433,7 +433,7 @@ impl CCDSolver {
let co_next_pos1 = rb1.pos.next_position * co1_parent.pos_wrt_parent;
let aabb = co1.shape.compute_swept_aabb(&co1.pos, &co_next_pos1);

for (ch2, _) in query_pipeline.intersect_aabb_conservative(&aabb) {
for (ch2, _) in query_pipeline.intersect_aabb_conservative(aabb) {
let co2 = &colliders[ch2];

let bh1 = co1.parent.map(|p| p.handle);
Expand Down
20 changes: 10 additions & 10 deletions src/pipeline/query_pipeline.rs
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Expand Up @@ -211,19 +211,19 @@ impl<'a> QueryPipeline<'a> {
#[profiling::function]
pub fn intersect_ray(
&'a self,
ray: &'a Ray,
ray: Ray,
max_toi: Real,
solid: bool,
) -> impl Iterator<Item = (ColliderHandle, &'a Collider, RayIntersection)> + 'a {
// TODO: add this to CompositeShapeRef?
self.bvh
.leaves(move |node: &BvhNode| node.aabb().intersects_local_ray(ray, max_toi))
.leaves(move |node: &BvhNode| node.aabb().intersects_local_ray(&ray, max_toi))
.filter_map(move |leaf| {
let (co, co_handle) = self.colliders.get_unknown_gen(leaf)?;
if self.filter.test(self.bodies, co_handle, co) {
if let Some(intersection) =
co.shape
.cast_ray_and_get_normal(co.position(), ray, max_toi, solid)
.cast_ray_and_get_normal(co.position(), &ray, max_toi, solid)
{
return Some((co_handle, co, intersection));
}
Expand Down Expand Up @@ -259,15 +259,15 @@ impl<'a> QueryPipeline<'a> {
#[profiling::function]
pub fn intersect_point(
&'a self,
point: &'a Point<Real>,
point: Point<Real>,
) -> impl Iterator<Item = (ColliderHandle, &'a Collider)> + 'a {
// TODO: add to CompositeShapeRef?
self.bvh
.leaves(move |node: &BvhNode| node.aabb().contains_local_point(point))
.leaves(move |node: &BvhNode| node.aabb().contains_local_point(&point))
.filter_map(move |leaf| {
let (co, co_handle) = self.colliders.get_unknown_gen(leaf)?;
if self.filter.test(self.bodies, co_handle, co)
&& co.shape.contains_point(co.position(), point)
&& co.shape.contains_point(co.position(), &point)
{
return Some((co_handle, co));
}
Expand Down Expand Up @@ -299,11 +299,11 @@ impl<'a> QueryPipeline<'a> {
#[profiling::function]
pub fn intersect_aabb_conservative(
&'a self,
aabb: &'a Aabb,
aabb: Aabb,
) -> impl Iterator<Item = (ColliderHandle, &'a Collider)> + 'a {
// TODO: add to ColliderRef?
self.bvh
.leaves(move |node: &BvhNode| node.aabb().intersects(aabb))
.leaves(move |node: &BvhNode| node.aabb().intersects(&aabb))
.filter_map(move |leaf| {
let (co, co_handle) = self.colliders.get_unknown_gen(leaf)?;
// NOTE: do **not** recompute and check the latest collider AABB.
Expand Down Expand Up @@ -388,11 +388,11 @@ impl<'a> QueryPipeline<'a> {
#[profiling::function]
pub fn intersect_shape(
&'a self,
shape_pos: &'a Isometry<Real>,
shape_pos: Isometry<Real>,
shape: &'a dyn Shape,
) -> impl Iterator<Item = (ColliderHandle, &'a Collider)> + 'a {
// TODO: add this to CompositeShapeRef?
let shape_aabb = shape.compute_aabb(shape_pos);
let shape_aabb = shape.compute_aabb(&shape_pos);
self.bvh
.leaves(move |node: &BvhNode| node.aabb().intersects(&shape_aabb))
.filter_map(move |leaf| {
Expand Down