Implement bounding volume types #10946
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Jondolf
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alice-i-cecile
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Dec 12, 2023
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I really like this API and architecture though, and I'm totally content to leave off implementations and extensions for follow-up PRs. Requests for now:
- I've left some feedback on test structure to keep things tidy.
- I'd like module level doc comments in
bounding/mod.rsexplaining the relationship between the 3 traits. - I'd like better docs on the traits, explaining how they're intended to be used.
I'd also like to replace bevy_sprite's bespoke Aabb stuff with this, but again, follow-up.
Jondolf
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Dec 13, 2023
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IQuick143
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Dec 13, 2023
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Just noticed that properties for 3D volumes are private. Otherwise, I don't think I see any outstanding issues, so I think this should be good. My comment on the bounding circle/sphere radius is non-blocking since you can also just get the radius from the underlying primitive.
Jondolf
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Jan 10, 2024
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I think everything looks good now, thanks! More helpers and functionality should probably be implemented in follow-up PRs.
These could be some next steps regarding bounding volumes:
- Add more helpers (e.g. construct an
Aabb2dfrom aBoundingCircleand vice versa) - Implement
Bounded2d/Bounded3dfor primitives (I have 2D implemented already, PR coming soon) - Implement
IntersectVolume- Intersections between AABBs, bounding circles and bounding spheres
- Ray intersections with bounding volumes (for raycasting)
- Maybe shape intersections with bounding volumes (for shapecasting)
- Replace
CollisionBoxinbevy_sprite - Use for mesh AABBs
- Long-term: Use for BVHs, collision detection, raycasting, shapecasting, etc.
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# Objective Closes #10570. #10946 added bounding volume types and traits, but didn't use them for anything yet. This PR implements `Bounded2d` and `Bounded3d` for Bevy's primitive shapes. ## Solution Implement `Bounded2d` and `Bounded3d` for primitive shapes. This allows computing AABBs and bounding circles/spheres for them. For most shapes, there are several ways of implementing bounding volumes. I took inspiration from [Parry's bounding volumes](https://github.com/dimforge/parry/tree/master/src/bounding_volume), [Inigo Quilez](http://iquilezles.org/articles/diskbbox/), and figured out the rest myself using geometry. I tried to comment all slightly non-trivial or unclear math to make it understandable. Parry uses support mapping (finding the farthest point in some direction for convex shapes) for some AABBs like cones, cylinders, and line segments. This involves several quat operations and normalizations, so I opted for the simpler and more efficient geometric approaches shown in [Quilez's article](http://iquilezles.org/articles/diskbbox/). Below you can see some of the bounding volumes working in 2D and 3D. Note that I can't conveniently add these examples yet because they use primitive shape meshing, which is still WIP. https://github.com/bevyengine/bevy/assets/57632562/4465cbc6-285b-4c71-b62d-a2b3ee16f8b4 https://github.com/bevyengine/bevy/assets/57632562/94b4ac84-a092-46d7-b438-ce2e971496a4 --- ## Changelog - Implemented `Bounded2d`/`Bounded3d` for primitive shapes - Added `from_point_cloud` method for bounding volumes (used by many bounding implementations) - Added `point_cloud_2d/3d_center` and `rotate_vec2` utility functions - Added `RegularPolygon::vertices` method (used in regular polygon AABB construction) - Added `Triangle::circumcenter` method (used in triangle bounding circle construction) - Added bounding circle/sphere creation from AABBs and vice versa ## Extra Do we want to implement `Bounded2d` for some "3D-ish" shapes too? For example, capsules are sort of dimension-agnostic and useful for 2D, so I think that would be good to implement. But a cylinder in 2D is just a rectangle, and a cone is a triangle, so they wouldn't make as much sense to me. A conical frustum would be an isosceles trapezoid, which could be useful, but I'm not sure if computing the 2D AABB of a 3D frustum makes semantic sense.
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# Objective #10946 added bounding volume types and an `IntersectsVolume` trait, but didn't actually implement intersections between bounding volumes. This PR implements AABB-AABB, circle-circle / sphere-sphere, and AABB-circle / AABB-sphere intersections. ## Solution Implement `IntersectsVolume` for bounding volume pairs. I also added `closest_point` methods to return the closest point on the surface / inside of bounding volumes. This is used for AABB-circle / AABB-sphere intersections. --------- Co-authored-by: IQuick 143 <[email protected]>
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Objective
Implement bounding volume trait and the 4 types from #10570. I will add intersection tests in a future PR.
Solution
Implement mostly everything as written in the issue, except:
visible_areasince it's the most common usecase to care about the surface that could collide with cast rays.Changelog