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scene_queries_intersection_test

Intersection tests will find all the colliders with a shape intersecting a given shape. This can be useful for, e.g., selecting all the objects that intersect a given area. There are two kind of intersection tests:

  • The exact intersection test QueryPipeline::intersections_with_shape searches for all the colliders with shapes intersecting the given shape.
  • The approximate intersection test QueryPipeline::colliders_with_aabb_intersecting_aabb searches for all the colliders with an AABB intersecting the given AABB. This does not check if the actual shapes of these colliders intersect the AABB.
info

See the ray-casting section for details about intersection tests between a ray and the colliders on the scene. And see the point projection section for details about the intersection test between the colliders and a point.

let shape = Cuboid::new(vector![1.0, 2.0]);
let shape_pos = Isometry::new(vector![0.0, 1.0], 0.2);
let filter = QueryFilter::default();

let query_pipeline = broad_phase.as_query_pipeline(
    narrow_phase.query_dispatcher(),
    rigid_body_set,
    collider_set,
    filter,
);

for (handle, _) in query_pipeline.intersect_shape(shape_pos, &shape) {
    println!("The collider {:?} intersects our shape.", handle);
}

let aabb = Aabb::new(point![-1.0, -2.0], point![1.0, 2.0]);
for (handle, _) in query_pipeline.intersect_aabb_conservative(aabb) {
    println!("The collider {:?} has an AABB intersecting our test AABB", handle);
}

It is possible to only apply the scene query to a subsets of the colliders using a query filter