Parry convenience query methods

src/geometry/mod.rs

@@ -10,6 +10,8 @@ use rapier::prelude::FeatureId;
 
 mod collider;
 mod collider_impl;
+/// Wrappers around Parry shape queries.
+pub mod query;
 /// Wrappers around Rapier shapes to access their properties.
 pub mod shape_views;
 

src/geometry/query/mod.rs

@@ -0,0 +1,101 @@
+use crate::{
+    parry::{self, shape::Shape, query::{Unsupported, Contact}},
+    prelude::*,
+    utils::pos_rot_to_iso,
+};
+
+/// Results from [`closest_points`]
+pub enum ClosestPoints {
+    /// The two objects are intersecting.
+    Intersecting,
+    /// The two objects are non-intersecting but closer than a given user-defined distance.
+    WithinMargin(Vect, Vect),
+    /// The two objects are non-intersecting and further than a given user-defined distance.
+    Disjoint,
+}
+
+use parry::query::closest_points::ClosestPoints as ParryClosestPoints;
+impl From<ParryClosestPoints> for ClosestPoints {
+    fn from(parry: ParryClosestPoints) -> ClosestPoints {
+        match parry {
+            ParryClosestPoints::Intersecting => ClosestPoints::Intersecting,
+            ParryClosestPoints::Disjoint => ClosestPoints::Disjoint,
+            ParryClosestPoints::WithinMargin(p1, p2) => {
+                ClosestPoints::WithinMargin(p1.into(), p2.into())
+            }
+        }
+    }
+}
+
+/// Computes the pair of closest points between two shapes.
+/// 
+/// Returns `ClosestPoints::Disjoint` if the objects are separated by a distance greater than `max_dist`. The result points in `ClosestPoints::WithinMargin` are expressed in world-space.
+pub fn closest_points(
+    pos1: Vect,
+    rot1: Rot,
+    shape1: &dyn Shape,
+    pos2: Vect,
+    rot2: Rot,
+    shape2: &dyn Shape,
+    max_dist: Real,
+    physics_scale: Real,
+) -> Result<ClosestPoints, Unsupported> {
+    let iso1 = pos_rot_to_iso(pos1, rot1, physics_scale);
+    let iso2 = pos_rot_to_iso(pos2, rot2, physics_scale);
+
+    parry::query::closest_points(&iso1, shape1, &iso2, shape2, max_dist)
+        .map(|parry| parry.into())
+}
+
+/// Computes the minimum distance separating two shapes.
+/// 
+/// Returns 0.0 if the objects are touching or penetrating.
+pub fn distance(
+    pos1: Vect,
+    rot1: Rot,
+    shape1: &dyn Shape,
+    pos2: Vect,
+    rot2: Rot,
+    shape2: &dyn Shape,
+    physics_scale: Real,
+) -> Result<Real, Unsupported> {
+    let iso1 = pos_rot_to_iso(pos1, rot1, physics_scale);
+    let iso2 = pos_rot_to_iso(pos2, rot2, physics_scale);
+
+    parry::query::distance(&iso1, shape1, &iso2, shape2)
+}
+
+/// Computes one pair of contact points point between two shapes.
+///
+/// Returns None if the objects are separated by a distance greater than prediction. The result is given in world-space.
+pub fn contact(
+    pos1: Vect,
+    rot1: Rot,
+    shape1: &dyn Shape,
+    pos2: Vect,
+    rot2: Rot,
+    shape2: &dyn Shape,
+    prediction: Real,
+    physics_scale: Real,
+) -> Result<Option<Contact>, Unsupported> {
+    let iso1 = pos_rot_to_iso(pos1, rot1, physics_scale);
+    let iso2 = pos_rot_to_iso(pos2, rot2, physics_scale);
+
+    parry::query::contact(&iso1, shape1, &iso2, shape2, prediction)
+}
+
+/// Tests whether two shapes are intersecting.
+pub fn intersection_test(
+    pos1: Vect,
+    rot1: Rot,
+    shape1: &dyn Shape,
+    pos2: Vect,
+    rot2: Rot,
+    shape2: &dyn Shape,
+    physics_scale: Real,
+) -> Result<bool, Unsupported> {
+    let iso1 = pos_rot_to_iso(pos1, rot1, physics_scale);
+    let iso2 = pos_rot_to_iso(pos2, rot2, physics_scale);
+
+    parry::query::intersection_test(&iso1, shape1, &iso2, shape2)
+}

src/lib.rs

@@ -66,6 +66,8 @@ pub mod render;
 /// Miscellaneous helper functions.
 pub mod utils;
 
+pub use crate::geometry::query;
+
 /// Groups the most often used types.
 pub mod prelude {
     pub use crate::control::*;

src/utils/mod.rs

@@ -1,3 +1,4 @@
+use crate::prelude::*;
 use bevy::prelude::Transform;
 use rapier::math::{Isometry, Real};
 
@@ -31,21 +32,35 @@ pub fn iso_to_transform(iso: &Isometry<Real>, physics_scale: Real) -> Transform
 #[cfg(feature = "dim2")]
 pub(crate) fn transform_to_iso(transform: &Transform, physics_scale: Real) -> Isometry<Real> {
     use bevy::math::Vec3Swizzles;
-    Isometry::new(
-        (transform.translation / physics_scale).xy().into(),
+    pos_rot_to_iso(
+        transform.translation.xy(),
         transform.rotation.to_scaled_axis().z,
+        physics_scale,
     )
 }
 
+/// Converts a translation and rotation into a Rapier isometry.
+///
+/// The translation is divided by the `physics_scale`.
+#[cfg(feature = "dim2")]
+pub(crate) fn pos_rot_to_iso(pos: Vect, rot: Rot, physics_scale: Real) -> Isometry<Real> {
+    Isometry::new((pos / physics_scale).into(), rot)
+}
+
 /// Converts a Bevy transform to a Rapier isometry.
 ///
 /// The translation is divided by the `physics_scale`.
 #[cfg(feature = "dim3")]
 pub(crate) fn transform_to_iso(transform: &Transform, physics_scale: Real) -> Isometry<Real> {
-    Isometry::from_parts(
-        (transform.translation / physics_scale).into(),
-        transform.rotation.into(),
-    )
+    pos_rot_to_iso(transform.translation, transform.rotation, physics_scale)
+}
+
+/// Converts a translation and rotation into a Rapier isometry.
+///
+/// The translation is divided by the `physics_scale`.
+#[cfg(feature = "dim3")]
+pub(crate) fn pos_rot_to_iso(pos: Vect, rot: Rot, physics_scale: Real) -> Isometry<Real> {
+    Isometry::from_parts((pos / physics_scale).into(), rot.into())
 }
 
 #[cfg(test)]