191 lines
12 KiB
TypeScript
191 lines
12 KiB
TypeScript
import { RawQueryPipeline } from "../raw";
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import { ColliderHandle, ColliderSet, InteractionGroups, PointColliderProjection, Ray, RayColliderIntersection, RayColliderToi, Shape, ShapeColliderTOI } from "../geometry";
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import { RigidBodyHandle, RigidBodySet } from "../dynamics";
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import { Rotation, Vector } from "../math";
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/**
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* Flags for excluding whole sets of colliders from a scene query.
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*/
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export declare enum QueryFilterFlags {
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/**
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* Exclude from the query any collider attached to a fixed rigid-body and colliders with no rigid-body attached.
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*/
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EXCLUDE_FIXED = 1,
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/**
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* Exclude from the query any collider attached to a dynamic rigid-body.
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*/
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EXCLUDE_KINEMATIC = 2,
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/**
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* Exclude from the query any collider attached to a kinematic rigid-body.
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*/
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EXCLUDE_DYNAMIC = 4,
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/**
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* Exclude from the query any collider that is a sensor.
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*/
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EXCLUDE_SENSORS = 8,
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/**
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* Exclude from the query any collider that is not a sensor.
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*/
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EXCLUDE_SOLIDS = 16,
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/**
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* Excludes all colliders not attached to a dynamic rigid-body.
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*/
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ONLY_DYNAMIC = 3,
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/**
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* Excludes all colliders not attached to a kinematic rigid-body.
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*/
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ONLY_KINEMATIC = 5,
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/**
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* Exclude all colliders attached to a non-fixed rigid-body
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* (this will not exclude colliders not attached to any rigid-body).
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*/
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ONLY_FIXED = 6
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}
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/**
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* A pipeline for performing queries on all the colliders of a scene.
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*
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* To avoid leaking WASM resources, this MUST be freed manually with `queryPipeline.free()`
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* once you are done using it (and all the rigid-bodies it created).
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*/
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export declare class QueryPipeline {
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raw: RawQueryPipeline;
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/**
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* Release the WASM memory occupied by this query pipeline.
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*/
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free(): void;
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constructor(raw?: RawQueryPipeline);
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/**
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* Updates the acceleration structure of the query pipeline.
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* @param bodies - The set of rigid-bodies taking part in this pipeline.
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* @param colliders - The set of colliders taking part in this pipeline.
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*/
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update(bodies: RigidBodySet, colliders: ColliderSet): void;
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/**
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* Find the closest intersection between a ray and a set of collider.
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*
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param ray - The ray to cast.
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* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
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* limits the length of the ray to `ray.dir.norm() * maxToi`.
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* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
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* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
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* whereas `false` implies that all shapes are hollow for this ray-cast.
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* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
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* @param filter - The callback to filter out which collider will be hit.
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*/
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castRay(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): RayColliderToi | null;
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/**
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* Find the closest intersection between a ray and a set of collider.
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*
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* This also computes the normal at the hit point.
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param ray - The ray to cast.
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* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
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* limits the length of the ray to `ray.dir.norm() * maxToi`.
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* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
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* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
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* whereas `false` implies that all shapes are hollow for this ray-cast.
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* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
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*/
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castRayAndGetNormal(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): RayColliderIntersection | null;
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/**
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* Cast a ray and collects all the intersections between a ray and the scene.
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*
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param ray - The ray to cast.
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* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
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* limits the length of the ray to `ray.dir.norm() * maxToi`.
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* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
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* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
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* whereas `false` implies that all shapes are hollow for this ray-cast.
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* @param groups - Used to filter the colliders that can or cannot be hit by the ray.
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* @param callback - The callback called once per hit (in no particular order) between a ray and a collider.
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* If this callback returns `false`, then the cast will stop and no further hits will be detected/reported.
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*/
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intersectionsWithRay(bodies: RigidBodySet, colliders: ColliderSet, ray: Ray, maxToi: number, solid: boolean, callback: (intersect: RayColliderIntersection) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
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/**
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* Gets the handle of up to one collider intersecting the given shape.
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*
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param shapePos - The position of the shape used for the intersection test.
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* @param shapeRot - The orientation of the shape used for the intersection test.
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* @param shape - The shape used for the intersection test.
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* @param groups - The bit groups and filter associated to the ray, in order to only
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* hit the colliders with collision groups compatible with the ray's group.
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*/
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intersectionWithShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shape: Shape, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): ColliderHandle | null;
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/**
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* Find the projection of a point on the closest collider.
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*
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param point - The point to project.
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* @param solid - If this is set to `true` then the collider shapes are considered to
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* be plain (if the point is located inside of a plain shape, its projection is the point
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* itself). If it is set to `false` the collider shapes are considered to be hollow
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* (if the point is located inside of an hollow shape, it is projected on the shape's
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* boundary).
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* @param groups - The bit groups and filter associated to the point to project, in order to only
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* project on colliders with collision groups compatible with the ray's group.
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*/
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projectPoint(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, solid: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): PointColliderProjection | null;
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/**
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* Find the projection of a point on the closest collider.
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*
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param point - The point to project.
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* @param groups - The bit groups and filter associated to the point to project, in order to only
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* project on colliders with collision groups compatible with the ray's group.
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*/
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projectPointAndGetFeature(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): PointColliderProjection | null;
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/**
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* Find all the colliders containing the given point.
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*
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param point - The point used for the containment test.
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* @param groups - The bit groups and filter associated to the point to test, in order to only
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* test on colliders with collision groups compatible with the ray's group.
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* @param callback - A function called with the handles of each collider with a shape
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* containing the `point`.
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*/
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intersectionsWithPoint(bodies: RigidBodySet, colliders: ColliderSet, point: Vector, callback: (handle: ColliderHandle) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
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/**
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* Casts a shape at a constant linear velocity and retrieve the first collider it hits.
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* This is similar to ray-casting except that we are casting a whole shape instead of
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* just a point (the ray origin).
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*
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param shapePos - The initial position of the shape to cast.
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* @param shapeRot - The initial rotation of the shape to cast.
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* @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).
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* @param shape - The shape to cast.
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* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
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* limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
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* @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
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* the shape is penetrating another shape at its starting point **and** its trajectory is such
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* that it’s on a path to exist that penetration state.
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* @param groups - The bit groups and filter associated to the shape to cast, in order to only
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* test on colliders with collision groups compatible with this group.
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*/
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castShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shapeVel: Vector, shape: Shape, maxToi: number, stopAtPenetration: boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): ShapeColliderTOI | null;
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/**
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* Retrieve all the colliders intersecting the given shape.
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*
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* @param colliders - The set of colliders taking part in this pipeline.
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* @param shapePos - The position of the shape to test.
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* @param shapeRot - The orientation of the shape to test.
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* @param shape - The shape to test.
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* @param groups - The bit groups and filter associated to the shape to test, in order to only
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* test on colliders with collision groups compatible with this group.
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* @param callback - A function called with the handles of each collider intersecting the `shape`.
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*/
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intersectionsWithShape(bodies: RigidBodySet, colliders: ColliderSet, shapePos: Vector, shapeRot: Rotation, shape: Shape, callback: (handle: ColliderHandle) => boolean, filterFlags?: QueryFilterFlags, filterGroups?: InteractionGroups, filterExcludeCollider?: ColliderHandle, filterExcludeRigidBody?: RigidBodyHandle, filterPredicate?: (collider: ColliderHandle) => boolean): void;
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/**
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* Finds the handles of all the colliders with an AABB intersecting the given AABB.
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*
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* @param aabbCenter - The center of the AABB to test.
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* @param aabbHalfExtents - The half-extents of the AABB to test.
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* @param callback - The callback that will be called with the handles of all the colliders
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* currently intersecting the given AABB.
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*/
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collidersWithAabbIntersectingAabb(aabbCenter: Vector, aabbHalfExtents: Vector, callback: (handle: ColliderHandle) => boolean): void;
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}
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