refactor: reorganize package structure and decouple framework packages (#338)
* refactor: reorganize package structure and decouple framework packages ## Package Structure Reorganization - Reorganized 55 packages into categorized subdirectories: - packages/framework/ - Generic framework (Laya/Cocos compatible) - packages/engine/ - ESEngine core modules - packages/rendering/ - Rendering modules (WASM dependent) - packages/physics/ - Physics modules - packages/streaming/ - World streaming - packages/network-ext/ - Network extensions - packages/editor/ - Editor framework and plugins - packages/rust/ - Rust WASM engine - packages/tools/ - Build tools and SDK ## Framework Package Decoupling - Decoupled behavior-tree and blueprint packages from ESEngine dependencies - Created abstracted interfaces (IBTAssetManager, IBehaviorTreeAssetContent) - ESEngine-specific code moved to esengine/ subpath exports - Framework packages now usable with Cocos/Laya without ESEngine ## CI Configuration - Updated CI to only type-check and lint framework packages - Added type-check:framework and lint:framework scripts ## Breaking Changes - Package import paths changed due to directory reorganization - ESEngine integrations now use subpath imports (e.g., '@esengine/behavior-tree/esengine') * fix: update es-engine file path after directory reorganization * docs: update README to focus on framework over engine * ci: only build framework packages, remove Rust/WASM dependencies * fix: remove esengine subpath from behavior-tree and blueprint builds ESEngine integration code will only be available in full engine builds. Framework packages are now purely engine-agnostic. * fix: move network-protocols to framework, build both in CI * fix: update workflow paths from packages/core to packages/framework/core * fix: exclude esengine folder from type-check in behavior-tree and blueprint * fix: update network tsconfig references to new paths * fix: add test:ci:framework to only test framework packages in CI * fix: only build core and math npm packages in CI * fix: exclude test files from CodeQL and fix string escaping security issue
This commit is contained in:
YHH
GitHub
520
packages/physics/rapier2d/src/geometry/broad_phase.ts
Normal file
520
packages/physics/rapier2d/src/geometry/broad_phase.ts
Normal file
@@ -0,0 +1,520 @@
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import {RawBroadPhase, RawRayColliderIntersection} from "../raw";
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import {RigidBodyHandle, RigidBodySet} from "../dynamics";
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import {ColliderSet} from "./collider_set";
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import {Ray, RayColliderHit, RayColliderIntersection} from "./ray";
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import {InteractionGroups} from "./interaction_groups";
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import {ColliderHandle} from "./collider";
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import {Rotation, RotationOps, Vector, VectorOps} from "../math";
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import {Shape} from "./shape";
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import {PointColliderProjection} from "./point";
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import {ColliderShapeCastHit} from "./toi";
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import {QueryFilterFlags} from "../pipeline";
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import {NarrowPhase} from "./narrow_phase";
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/**
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* The broad-phase used for coarse collision-detection.
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*
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* To avoid leaking WASM resources, this MUST be freed manually with `broadPhase.free()`
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* once you are done using it.
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*/
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export class BroadPhase {
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raw: RawBroadPhase;
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/**
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* Release the WASM memory occupied by this broad-phase.
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*/
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public free() {
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if (!!this.raw) {
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this.raw.free();
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}
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this.raw = undefined;
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}
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constructor(raw?: RawBroadPhase) {
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this.raw = raw || new RawBroadPhase();
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}
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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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public castRay(
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narrowPhase: NarrowPhase,
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bodies: RigidBodySet,
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colliders: ColliderSet,
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ray: Ray,
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maxToi: number,
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solid: boolean,
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filterFlags?: QueryFilterFlags,
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filterGroups?: InteractionGroups,
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filterExcludeCollider?: ColliderHandle,
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filterExcludeRigidBody?: RigidBodyHandle,
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filterPredicate?: (collider: ColliderHandle) => boolean,
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): RayColliderHit | null {
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let rawOrig = VectorOps.intoRaw(ray.origin);
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let rawDir = VectorOps.intoRaw(ray.dir);
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let result = RayColliderHit.fromRaw(
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colliders,
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this.raw.castRay(
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narrowPhase.raw,
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bodies.raw,
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colliders.raw,
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rawOrig,
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rawDir,
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maxToi,
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solid,
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filterFlags,
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filterGroups,
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filterExcludeCollider,
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filterExcludeRigidBody,
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filterPredicate,
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),
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);
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rawOrig.free();
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rawDir.free();
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return result;
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}
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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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public castRayAndGetNormal(
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narrowPhase: NarrowPhase,
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bodies: RigidBodySet,
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colliders: ColliderSet,
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ray: Ray,
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maxToi: number,
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solid: boolean,
|
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filterFlags?: QueryFilterFlags,
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filterGroups?: InteractionGroups,
|
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filterExcludeCollider?: ColliderHandle,
|
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filterExcludeRigidBody?: RigidBodyHandle,
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filterPredicate?: (collider: ColliderHandle) => boolean,
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): RayColliderIntersection | null {
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let rawOrig = VectorOps.intoRaw(ray.origin);
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let rawDir = VectorOps.intoRaw(ray.dir);
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let result = RayColliderIntersection.fromRaw(
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colliders,
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this.raw.castRayAndGetNormal(
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narrowPhase.raw,
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bodies.raw,
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colliders.raw,
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rawOrig,
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rawDir,
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maxToi,
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solid,
|
||||
filterFlags,
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filterGroups,
|
||||
filterExcludeCollider,
|
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filterExcludeRigidBody,
|
||||
filterPredicate,
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||||
),
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||||
);
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rawOrig.free();
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rawDir.free();
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return result;
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||||
}
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|
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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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* @param colliders - The set of colliders taking part in this pipeline.
|
||||
* @param ray - The ray to cast.
|
||||
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
|
||||
* limits the length of the ray to `ray.dir.norm() * maxToi`.
|
||||
* @param solid - If `false` then the ray will attempt to hit the boundary of a shape, even if its
|
||||
* origin already lies inside of a shape. In other terms, `true` implies that all shapes are plain,
|
||||
* 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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public intersectionsWithRay(
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narrowPhase: NarrowPhase,
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bodies: RigidBodySet,
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colliders: ColliderSet,
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ray: Ray,
|
||||
maxToi: number,
|
||||
solid: boolean,
|
||||
callback: (intersect: RayColliderIntersection) => boolean,
|
||||
filterFlags?: QueryFilterFlags,
|
||||
filterGroups?: InteractionGroups,
|
||||
filterExcludeCollider?: ColliderHandle,
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filterExcludeRigidBody?: RigidBodyHandle,
|
||||
filterPredicate?: (collider: ColliderHandle) => boolean,
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) {
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let rawOrig = VectorOps.intoRaw(ray.origin);
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let rawDir = VectorOps.intoRaw(ray.dir);
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let rawCallback = (rawInter: RawRayColliderIntersection) => {
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return callback(
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RayColliderIntersection.fromRaw(colliders, rawInter),
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);
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};
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this.raw.intersectionsWithRay(
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narrowPhase.raw,
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bodies.raw,
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colliders.raw,
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rawOrig,
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rawDir,
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maxToi,
|
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solid,
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||||
rawCallback,
|
||||
filterFlags,
|
||||
filterGroups,
|
||||
filterExcludeCollider,
|
||||
filterExcludeRigidBody,
|
||||
filterPredicate,
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||||
);
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||||
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rawOrig.free();
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||||
rawDir.free();
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||||
}
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||||
|
||||
/**
|
||||
* Gets the handle of up to one collider intersecting the given shape.
|
||||
*
|
||||
* @param colliders - The set of colliders taking part in this pipeline.
|
||||
* @param shapePos - The position of the shape used for the intersection test.
|
||||
* @param shapeRot - The orientation of the shape used for the intersection test.
|
||||
* @param shape - The shape used for the intersection test.
|
||||
* @param groups - The bit groups and filter associated to the ray, in order to only
|
||||
* hit the colliders with collision groups compatible with the ray's group.
|
||||
*/
|
||||
public intersectionWithShape(
|
||||
narrowPhase: NarrowPhase,
|
||||
bodies: RigidBodySet,
|
||||
colliders: ColliderSet,
|
||||
shapePos: Vector,
|
||||
shapeRot: Rotation,
|
||||
shape: Shape,
|
||||
filterFlags?: QueryFilterFlags,
|
||||
filterGroups?: InteractionGroups,
|
||||
filterExcludeCollider?: ColliderHandle,
|
||||
filterExcludeRigidBody?: RigidBodyHandle,
|
||||
filterPredicate?: (collider: ColliderHandle) => boolean,
|
||||
): ColliderHandle | null {
|
||||
let rawPos = VectorOps.intoRaw(shapePos);
|
||||
let rawRot = RotationOps.intoRaw(shapeRot);
|
||||
let rawShape = shape.intoRaw();
|
||||
let result = this.raw.intersectionWithShape(
|
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narrowPhase.raw,
|
||||
bodies.raw,
|
||||
colliders.raw,
|
||||
rawPos,
|
||||
rawRot,
|
||||
rawShape,
|
||||
filterFlags,
|
||||
filterGroups,
|
||||
filterExcludeCollider,
|
||||
filterExcludeRigidBody,
|
||||
filterPredicate,
|
||||
);
|
||||
|
||||
rawPos.free();
|
||||
rawRot.free();
|
||||
rawShape.free();
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Find the projection of a point on the closest collider.
|
||||
*
|
||||
* @param colliders - The set of colliders taking part in this pipeline.
|
||||
* @param point - The point to project.
|
||||
* @param 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).
|
||||
* @param groups - The bit groups and filter associated to the point to project, in order to only
|
||||
* project on colliders with collision groups compatible with the ray's group.
|
||||
*/
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||||
public projectPoint(
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||||
narrowPhase: NarrowPhase,
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||||
bodies: RigidBodySet,
|
||||
colliders: ColliderSet,
|
||||
point: Vector,
|
||||
solid: boolean,
|
||||
filterFlags?: QueryFilterFlags,
|
||||
filterGroups?: InteractionGroups,
|
||||
filterExcludeCollider?: ColliderHandle,
|
||||
filterExcludeRigidBody?: RigidBodyHandle,
|
||||
filterPredicate?: (collider: ColliderHandle) => boolean,
|
||||
): PointColliderProjection | null {
|
||||
let rawPoint = VectorOps.intoRaw(point);
|
||||
let result = PointColliderProjection.fromRaw(
|
||||
colliders,
|
||||
this.raw.projectPoint(
|
||||
narrowPhase.raw,
|
||||
bodies.raw,
|
||||
colliders.raw,
|
||||
rawPoint,
|
||||
solid,
|
||||
filterFlags,
|
||||
filterGroups,
|
||||
filterExcludeCollider,
|
||||
filterExcludeRigidBody,
|
||||
filterPredicate,
|
||||
),
|
||||
);
|
||||
|
||||
rawPoint.free();
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Find the projection of a point on the closest collider.
|
||||
*
|
||||
* @param colliders - The set of colliders taking part in this pipeline.
|
||||
* @param point - The point to project.
|
||||
* @param groups - The bit groups and filter associated to the point to project, in order to only
|
||||
* project on colliders with collision groups compatible with the ray's group.
|
||||
*/
|
||||
public projectPointAndGetFeature(
|
||||
narrowPhase: NarrowPhase,
|
||||
bodies: RigidBodySet,
|
||||
colliders: ColliderSet,
|
||||
point: Vector,
|
||||
filterFlags?: QueryFilterFlags,
|
||||
filterGroups?: InteractionGroups,
|
||||
filterExcludeCollider?: ColliderHandle,
|
||||
filterExcludeRigidBody?: RigidBodyHandle,
|
||||
filterPredicate?: (collider: ColliderHandle) => boolean,
|
||||
): PointColliderProjection | null {
|
||||
let rawPoint = VectorOps.intoRaw(point);
|
||||
let result = PointColliderProjection.fromRaw(
|
||||
colliders,
|
||||
this.raw.projectPointAndGetFeature(
|
||||
narrowPhase.raw,
|
||||
bodies.raw,
|
||||
colliders.raw,
|
||||
rawPoint,
|
||||
filterFlags,
|
||||
filterGroups,
|
||||
filterExcludeCollider,
|
||||
filterExcludeRigidBody,
|
||||
filterPredicate,
|
||||
),
|
||||
);
|
||||
|
||||
rawPoint.free();
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Find all the colliders containing the given point.
|
||||
*
|
||||
* @param colliders - The set of colliders taking part in this pipeline.
|
||||
* @param point - The point used for the containment test.
|
||||
* @param groups - The bit groups and filter associated to the point to test, in order to only
|
||||
* test on colliders with collision groups compatible with the ray's group.
|
||||
* @param callback - A function called with the handles of each collider with a shape
|
||||
* containing the `point`.
|
||||
*/
|
||||
public intersectionsWithPoint(
|
||||
narrowPhase: NarrowPhase,
|
||||
bodies: RigidBodySet,
|
||||
colliders: ColliderSet,
|
||||
point: Vector,
|
||||
callback: (handle: ColliderHandle) => boolean,
|
||||
filterFlags?: QueryFilterFlags,
|
||||
filterGroups?: InteractionGroups,
|
||||
filterExcludeCollider?: ColliderHandle,
|
||||
filterExcludeRigidBody?: RigidBodyHandle,
|
||||
filterPredicate?: (collider: ColliderHandle) => boolean,
|
||||
) {
|
||||
let rawPoint = VectorOps.intoRaw(point);
|
||||
|
||||
this.raw.intersectionsWithPoint(
|
||||
narrowPhase.raw,
|
||||
bodies.raw,
|
||||
colliders.raw,
|
||||
rawPoint,
|
||||
callback,
|
||||
filterFlags,
|
||||
filterGroups,
|
||||
filterExcludeCollider,
|
||||
filterExcludeRigidBody,
|
||||
filterPredicate,
|
||||
);
|
||||
|
||||
rawPoint.free();
|
||||
}
|
||||
|
||||
/**
|
||||
* 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).
|
||||
*
|
||||
* @param colliders - The set of colliders taking part in this pipeline.
|
||||
* @param shapePos - The initial position of the shape to cast.
|
||||
* @param shapeRot - The initial rotation of the shape to cast.
|
||||
* @param shapeVel - The constant velocity of the shape to cast (i.e. the cast direction).
|
||||
* @param shape - The shape to cast.
|
||||
* @param targetDistance − If the shape moves closer to this distance from a collider, a hit
|
||||
* will be returned.
|
||||
* @param maxToi - The maximum time-of-impact that can be reported by this cast. This effectively
|
||||
* limits the distance traveled by the shape to `shapeVel.norm() * maxToi`.
|
||||
* @param stopAtPenetration - If set to `false`, the linear shape-cast won’t immediately stop if
|
||||
* the shape is penetrating another shape at its starting point **and** its trajectory is such
|
||||
* that it’s on a path to exit that penetration state.
|
||||
* @param groups - The bit groups and filter associated to the shape to cast, in order to only
|
||||
* test on colliders with collision groups compatible with this group.
|
||||
*/
|
||||
public castShape(
|
||||
narrowPhase: NarrowPhase,
|
||||
bodies: RigidBodySet,
|
||||
colliders: ColliderSet,
|
||||
shapePos: Vector,
|
||||
shapeRot: Rotation,
|
||||
shapeVel: Vector,
|
||||
shape: Shape,
|
||||
targetDistance: number,
|
||||
maxToi: number,
|
||||
stopAtPenetration: boolean,
|
||||
filterFlags?: QueryFilterFlags,
|
||||
filterGroups?: InteractionGroups,
|
||||
filterExcludeCollider?: ColliderHandle,
|
||||
filterExcludeRigidBody?: RigidBodyHandle,
|
||||
filterPredicate?: (collider: ColliderHandle) => boolean,
|
||||
): ColliderShapeCastHit | null {
|
||||
let rawPos = VectorOps.intoRaw(shapePos);
|
||||
let rawRot = RotationOps.intoRaw(shapeRot);
|
||||
let rawVel = VectorOps.intoRaw(shapeVel);
|
||||
let rawShape = shape.intoRaw();
|
||||
|
||||
let result = ColliderShapeCastHit.fromRaw(
|
||||
colliders,
|
||||
this.raw.castShape(
|
||||
narrowPhase.raw,
|
||||
bodies.raw,
|
||||
colliders.raw,
|
||||
rawPos,
|
||||
rawRot,
|
||||
rawVel,
|
||||
rawShape,
|
||||
targetDistance,
|
||||
maxToi,
|
||||
stopAtPenetration,
|
||||
filterFlags,
|
||||
filterGroups,
|
||||
filterExcludeCollider,
|
||||
filterExcludeRigidBody,
|
||||
filterPredicate,
|
||||
),
|
||||
);
|
||||
|
||||
rawPos.free();
|
||||
rawRot.free();
|
||||
rawVel.free();
|
||||
rawShape.free();
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Retrieve all the colliders intersecting the given shape.
|
||||
*
|
||||
* @param colliders - The set of colliders taking part in this pipeline.
|
||||
* @param shapePos - The position of the shape to test.
|
||||
* @param shapeRot - The orientation of the shape to test.
|
||||
* @param shape - The shape to test.
|
||||
* @param groups - The bit groups and filter associated to the shape to test, in order to only
|
||||
* test on colliders with collision groups compatible with this group.
|
||||
* @param callback - A function called with the handles of each collider intersecting the `shape`.
|
||||
*/
|
||||
public intersectionsWithShape(
|
||||
narrowPhase: NarrowPhase,
|
||||
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,
|
||||
) {
|
||||
let rawPos = VectorOps.intoRaw(shapePos);
|
||||
let rawRot = RotationOps.intoRaw(shapeRot);
|
||||
let rawShape = shape.intoRaw();
|
||||
|
||||
this.raw.intersectionsWithShape(
|
||||
narrowPhase.raw,
|
||||
bodies.raw,
|
||||
colliders.raw,
|
||||
rawPos,
|
||||
rawRot,
|
||||
rawShape,
|
||||
callback,
|
||||
filterFlags,
|
||||
filterGroups,
|
||||
filterExcludeCollider,
|
||||
filterExcludeRigidBody,
|
||||
filterPredicate,
|
||||
);
|
||||
|
||||
rawPos.free();
|
||||
rawRot.free();
|
||||
rawShape.free();
|
||||
}
|
||||
|
||||
/**
|
||||
* Finds the handles of all the colliders with an AABB intersecting the given AABB.
|
||||
*
|
||||
* @param aabbCenter - The center of the AABB to test.
|
||||
* @param aabbHalfExtents - The half-extents of the AABB to test.
|
||||
* @param callback - The callback that will be called with the handles of all the colliders
|
||||
* currently intersecting the given AABB.
|
||||
*/
|
||||
public collidersWithAabbIntersectingAabb(
|
||||
narrowPhase: NarrowPhase,
|
||||
bodies: RigidBodySet,
|
||||
colliders: ColliderSet,
|
||||
aabbCenter: Vector,
|
||||
aabbHalfExtents: Vector,
|
||||
callback: (handle: ColliderHandle) => boolean,
|
||||
) {
|
||||
let rawCenter = VectorOps.intoRaw(aabbCenter);
|
||||
let rawHalfExtents = VectorOps.intoRaw(aabbHalfExtents);
|
||||
this.raw.collidersWithAabbIntersectingAabb(
|
||||
narrowPhase.raw,
|
||||
bodies.raw,
|
||||
colliders.raw,
|
||||
rawCenter,
|
||||
rawHalfExtents,
|
||||
callback,
|
||||
);
|
||||
rawCenter.free();
|
||||
rawHalfExtents.free();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user