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+ // Copyright (C) 2026 The Qt Company Ltd.
+ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause
+ import QtQuick
+ import QtQuick.Controls
+ import QtQuick.Layouts
+ import QtQuick3D
+ import QtQuick3D.Helpers
+ import QtQuick3D.Physics
+
+ Window {
+ id: window
+ width: 1280
+ height: 720
+ visible: true
+ title: qsTr("Qt Quick 3D Physics - Queries")
+
+ property int currentMode: 0
+ property real playerYaw: 0
+ property real cameraPitch: -15
+
+ property bool keyW: false
+ property bool keyS: false
+ property bool keyA: false
+ property bool keyD: false
+ property bool keySpace: false
+
+ readonly property var modeDetails: [
+ { name: "1. Single Probe", type: "PROBE", desc: "Closest body along a ray (singleRaycastQuery)" },
+ { name: "2. Piercing Probe", type: "PROBE", desc: "Every body along a ray (multiRaycastQuery)" },
+ { name: "3. Volume Probe", type: "PROBE", desc: "Closest body along a sweep (singleSweepQuery)" },
+ { name: "4. Piercing Volume Probe", type: "PROBE", desc: "Every body along a sweep (multiSweepQuery)" },
+ { name: "5. Radial Pulse", type: "PROBE", desc: "Every body in a volume (multiOverlapQuery)" },
+ { name: "6. Line-of-Sight Scanner", type: "SCANNER", desc: "Is the ray blocked? (testRaycastQuery)" },
+ { name: "7. Clearance Scanner", type: "SCANNER", desc: "Is the corridor clear? (testSweepQuery)" },
+ { name: "8. Occupancy Scanner", type: "SCANNER", desc: "Is the volume occupied? (testOverlapQuery)" }
+ ]
+
+ Timer {
+ id: autoFireTimer
+ interval: 150
+ repeat: true
+ onTriggered: {
+ if (window.keySpace) {
+ window.runQuery();
+ } else {
+ autoFireTimer.stop();
+ }
+ }
+ }
+
+ function updateShootingState() {
+ if (keySpace) {
+ if (!autoFireTimer.running) {
+ runQuery();
+ autoFireTimer.start();
+ }
+ } else {
+ autoFireTimer.stop();
+ }
+ }
+
+ Item {
+ id: inputController
+ anchors.fill: parent
+ focus: true
+
+ Component.onCompleted: inputController.forceActiveFocus()
+
+ Keys.onPressed: (event) => {
+ let k = event.key;
+ let t = event.text.toLowerCase();
+
+ if (k === Qt.Key_W || t === "w") window.keyW = true;
+ if (k === Qt.Key_S || t === "s") window.keyS = true;
+ if (k === Qt.Key_A || t === "a") window.keyA = true;
+ if (k === Qt.Key_D || t === "d") window.keyD = true;
+
+ if (k === Qt.Key_Space && !event.isAutoRepeat) {
+ window.keySpace = true;
+ window.updateShootingState();
+ }
+
+ if (k >= Qt.Key_1 && k <= Qt.Key_8) {
+ window.currentMode = k - Qt.Key_1;
+ }
+ }
+
+ Keys.onReleased: (event) => {
+ let k = event.key;
+ let t = event.text.toLowerCase();
+
+ if (k === Qt.Key_W || t === "w") window.keyW = false;
+ if (k === Qt.Key_S || t === "s") window.keyS = false;
+ if (k === Qt.Key_A || t === "a") window.keyA = false;
+ if (k === Qt.Key_D || t === "d") window.keyD = false;
+
+ if (k === Qt.Key_Space) {
+ window.keySpace = false;
+ window.updateShootingState();
+ }
+ }
+ }
+
+ View3D {
+ id: view
+ anchors.fill: parent
+
+ //! [physics-world-setup]
+ PhysicsWorld {
+ id: physicsWorld
+ scene: view.scene
+ running: true
+ gravity: Qt.vector3d(0, -981, 0)
+ }
+
+ // Shapes used for Sweep and Overlap queries
+ SphereShape { id: querySphereShape; diameter: 200 }
+ BoxShape { id: queryBoxShape; extents: Qt.vector3d(200, 200, 200) }
+ //! [physics-world-setup]
+
+ MouseArea {
+ anchors.fill: parent
+ acceptedButtons: Qt.LeftButton | Qt.RightButton
+ property point lastPos: Qt.point(0, 0)
+
+ onPressed: (mouse) => {
+ inputController.forceActiveFocus();
+ lastPos = Qt.point(mouse.x, mouse.y);
+ }
+
+ onPositionChanged: (mouse) => {
+ if (pressedButtons & Qt.RightButton || pressedButtons & Qt.LeftButton) {
+ let dx = mouse.x - lastPos.x;
+ let dy = mouse.y - lastPos.y;
+
+ window.playerYaw -= dx * 0.25;
+ window.cameraPitch = Math.max(-60, Math.min(30, window.cameraPitch - dy * 0.25));
+ lastPos = Qt.point(mouse.x, mouse.y);
+ }
+ }
+
+ onWheel: (wheel) => {
+ if (wheel.angleDelta.y > 0) {
+ window.currentMode = (window.currentMode + 1) % window.modeDetails.length;
+ } else {
+ window.currentMode = (window.currentMode - 1 + window.modeDetails.length)
+ % window.modeDetails.length;
+ }
+ }
+ }
+
+ environment: SceneEnvironment {
+ clearColor: "#0f111a"
+ backgroundMode: SceneEnvironment.Color
+ }
+
+ CharacterController {
+ id: player
+ position: Qt.vector3d(0, 150, 1200)
+ eulerRotation.y: window.playerYaw
+ gravity: physicsWorld.gravity
+
+ collisionShapes: CapsuleShape {
+ diameter: 80
+ height: 180
+ }
+
+ Model {
+ source: "#Cylinder"
+ scale: Qt.vector3d(0.8, 1.8, 0.8)
+ materials: [ PrincipledMaterial { baseColor: "#00d2d3" } ]
+ }
+
+ Node {
+ id: cameraRig
+ eulerRotation.x: window.cameraPitch
+
+ PerspectiveCamera {
+ id: camera
+ position: Qt.vector3d(0, 200, 500)
+ eulerRotation.x: -10
+ clipNear: 1
+ }
+ }
+ }
+
+ DirectionalLight {
+ eulerRotation: Qt.vector3d(-45, 30, 0)
+ brightness: 1.5
+ }
+
+ StaticRigidBody {
+ position: Qt.vector3d(0, -50, 0)
+ collisionShapes: BoxShape { extents: Qt.vector3d(6000, 100, 6000) }
+ Model {
+ source: "#Cube"
+ scale: Qt.vector3d(60, 1, 60)
+ materials: [ PrincipledMaterial { baseColor: "#1e272e" } ]
+ }
+ }
+
+ component ArenaWall : StaticRigidBody {
+ property vector3d wallSize: Qt.vector3d(100, 100, 100)
+ collisionShapes: BoxShape { extents: wallSize }
+ Model {
+ source: "#Cube"
+ scale: Qt.vector3d(wallSize.x * 0.01, wallSize.y * 0.01, wallSize.z * 0.01)
+ materials: [ PrincipledMaterial { baseColor: "#34495e" } ]
+ }
+ }
+
+ ArenaWall { position: Qt.vector3d(0, 300, -3000); wallSize: Qt.vector3d(6000, 600, 200) }
+ ArenaWall { position: Qt.vector3d(0, 300, 3000); wallSize: Qt.vector3d(6000, 600, 200) }
+ ArenaWall { position: Qt.vector3d(-3000, 300, 0); wallSize: Qt.vector3d(200, 600, 6000) }
+ ArenaWall { position: Qt.vector3d(3000, 300, 0); wallSize: Qt.vector3d(200, 600, 6000) }
+
+ component DynamicCube : DynamicRigidBody {
+ id: cubeRoot
+ property color cubeColor: "#e67e22"
+ collisionShapes: BoxShape { extents: Qt.vector3d(100, 100, 100) }
+ Model {
+ source: "#Cube"
+ scale: Qt.vector3d(1, 1, 1)
+ materials: [ PrincipledMaterial { baseColor: cubeRoot.cubeColor } ]
+ }
+ }
+
+ component DynamicSphere : DynamicRigidBody {
+ id: sphereRoot
+ property color sphereColor: "#1abc9c"
+ collisionShapes: SphereShape { diameter: 100 }
+ Model {
+ source: "#Sphere"
+ scale: Qt.vector3d(1, 1, 1)
+ materials: [ PrincipledMaterial { baseColor: sphereRoot.sphereColor } ]
+ }
+ }
+
+ // --- MASSIVE DYNAMIC OBJECTS GENERATOR (500+ BODIES) ---
+ Component { id: dynamicCubeComp; DynamicCube {} }
+ Component { id: dynamicSphereComp; DynamicSphere {} }
+
+ Component.onCompleted: {
+ let colors = ["#e74c3c", "#e67e22", "#f1c40f", "#2ecc71", "#3498db", "#9b59b6", "#1abc9c", "#e84393"];
+
+ // Generate a huge wall of dynamic objects (18 x 7 x 4 grid = ~500 objects)
+ for (let x = -1000; x <= 1000; x += 120) {
+ for (let y = 50; y <= 850; y += 120) {
+ for (let z = -1000; z >= -1400; z -= 120) {
+ let isSphere = (Math.random() > 0.5);
+ let comp = isSphere ? dynamicSphereComp : dynamicCubeComp;
+ let randomColor = colors[Math.floor(Math.random() * colors.length)];
+
+ comp.createObject(view.scene, {
+ "position": Qt.vector3d(x + (Math.random() * 5), y, z + (Math.random() * 5)),
+ "cubeColor": randomColor,
+ "sphereColor": randomColor
+ });
+ }
+ }
+ }
+ }
+
+ Node {
+ id: tracerBeam
+ visible: false
+ Model {
+ id: tracerMesh
+ source: "#Cylinder"
+ scale: Qt.vector3d(1, 1, 1)
+ materials: [
+ PrincipledMaterial {
+ id: tracerMat
+ baseColor: "#f1c40f"
+ opacity: 0.5
+ alphaMode: PrincipledMaterial.Blend
+ lighting: PrincipledMaterial.NoLighting
+ }
+ ]
+ }
+ }
+ Timer { id: tracerTimer; interval: 150; onTriggered: tracerBeam.visible = false }
+
+ Model {
+ id: volumeGhost
+ visible: false
+ materials: [
+ PrincipledMaterial {
+ id: ghostMat
+ baseColor: "#3300ff00"
+ alphaMode: PrincipledMaterial.Blend
+ opacity: 0.4
+ lighting: PrincipledMaterial.NoLighting
+ }
+ ]
+ }
+ }
+
+ FrameAnimation {
+ running: true
+ onTriggered: {
+ let speed = 800;
+ let moveX = 0;
+ let moveZ = 0;
+
+ if (window.keyW) moveZ -= 1;
+ if (window.keyS) moveZ += 1;
+ if (window.keyA) moveX -= 1;
+ if (window.keyD) moveX += 1;
+
+ let len = Math.sqrt(moveX * moveX + moveZ * moveZ);
+ if (len > 0) {
+ moveX /= len;
+ moveZ /= len;
+ player.movement = Qt.vector3d(moveX * speed, 0, moveZ * speed);
+ } else {
+ player.movement = Qt.vector3d(0, 0, 0);
+ }
+
+ let rad = player.eulerRotation.y * Math.PI / 180.0;
+ let forwardWorld = Qt.vector3d(-Math.sin(rad), 0, -Math.cos(rad)).normalized();
+
+ window.updateScannerState(forwardWorld);
+ }
+ }
+
+ //! [probe-origin]
+ // The player's own collider is an ordinary hit candidate, so a query starting at
+ // the character's center would hit its own capsule at distance 0. Start the query
+ // slightly above and in front of the capsule instead.
+ function probeOrigin(forwardDir) {
+ return player.position.plus(Qt.vector3d(0, 50, 0)).plus(forwardDir.times(150));
+ }
+ //! [probe-origin]
+
+ // Only a DynamicRigidBody can take an impulse. The queries here also return the
+ // static arena and the player's own character controller.
+ function pushBody(body, impulse) {
+ if (body instanceof DynamicRigidBody)
+ body.applyCentralImpulse(impulse);
+ }
+
+ function runQuery() {
+ if (currentMode >= 5) {
+ statusText.text = "Scanner mode: modes 1-5 are triggered manually";
+ return;
+ }
+
+ let rad = player.eulerRotation.y * Math.PI / 180.0;
+ let pitchRad = cameraRig.eulerRotation.x * Math.PI / 180.0;
+
+ let forwardDir = Qt.vector3d(
+ -Math.sin(rad) * Math.cos(pitchRad),
+ Math.sin(pitchRad),
+ -Math.cos(rad) * Math.cos(pitchRad)
+ ).normalized();
+
+ let origin = window.probeOrigin(forwardDir);
+ let maxDist = 3000;
+
+ switch (currentMode) {
+
+ //! [mode-single-raycast]
+ case 0: // singleRaycastQuery
+ let hit1 = physicsWorld.singleRaycastQuery(origin, forwardDir, maxDist, true, true);
+
+ // hit.body === null is the miss test; distance is 0 on a miss.
+ let dist1 = hit1.body ? hit1.distance : maxDist;
+ renderTracer(origin, forwardDir, dist1, "#f1c40f", 10, 10, false);
+
+ if (hit1.body) {
+ window.pushBody(hit1.body, forwardDir.times(250000));
+ statusText.text = "singleRaycastQuery: hit at " + Math.round(hit1.distance) + " cm";
+ } else {
+ statusText.text = "singleRaycastQuery: missed";
+ }
+ break;
+ //! [mode-single-raycast]
+
+ //! [mode-multi-raycast]
+ case 1: // multiRaycastQuery
+ let hits2 = physicsWorld.multiRaycastQuery(origin, forwardDir, maxDist, true, true);
+ renderTracer(origin, forwardDir, maxDist, "#3498db", 10, 10, false);
+
+ for (let i = 0; i < hits2.length; ++i)
+ window.pushBody(hits2[i].body, forwardDir.times(200000));
+
+ statusText.text = "multiRaycastQuery: hit count " + hits2.length;
+ break;
+ //! [mode-multi-raycast]
+
+ //! [mode-single-sweep]
+ case 2: // singleSweepQuery
+ querySphereShape.position = origin;
+ let hit3 = physicsWorld.singleSweepQuery(querySphereShape, forwardDir, maxDist, true, true);
+
+ // A sweep that starts already overlapping a body reports a negative
+ // distance, so test body rather than distance to detect a miss.
+ let dist3 = hit3.body ? Math.max(hit3.distance, 0) : maxDist;
+
+ // Cylinder matching the swept SphereShape diameter
+ renderTracer(origin, forwardDir, dist3, "#e74c3c", 200, 200, false);
+
+ if (hit3.body) {
+ window.pushBody(hit3.body, forwardDir.times(300000));
+ statusText.text = "singleSweepQuery: hit at " + Math.round(hit3.distance) + " cm";
+ } else {
+ statusText.text = "singleSweepQuery: missed";
+ }
+ break;
+ //! [mode-single-sweep]
+
+ //! [mode-multi-sweep]
+ case 3: // multiSweepQuery
+ queryBoxShape.position = origin;
+ let hits4 = physicsWorld.multiSweepQuery(queryBoxShape, forwardDir, maxDist, true, true);
+
+ // Translucent box corridor along the sweep trajectory
+ renderTracer(origin, forwardDir, maxDist, "#9b59b6", 200, 200, true);
+
+ for (let j = 0; j < hits4.length; ++j)
+ window.pushBody(hits4[j].body, forwardDir.times(250000));
+
+ statusText.text = "multiSweepQuery: hit count " + hits4.length;
+ break;
+ //! [mode-multi-sweep]
+
+ //! [mode-multi-overlap]
+ case 4: // multiOverlapQuery
+ let pulseCenter = origin.plus(forwardDir.times(600));
+ querySphereShape.position = pulseCenter;
+
+ let overlapHits = physicsWorld.multiOverlapQuery(querySphereShape, true, true);
+
+ volumeGhost.source = "#Sphere";
+ volumeGhost.position = pulseCenter;
+ volumeGhost.scale = Qt.vector3d(2, 2, 2);
+ ghostMat.baseColor = "#e74c3c";
+ volumeGhost.visible = true;
+
+ for (let k = 0; k < overlapHits.length; ++k) {
+ let body5 = overlapHits[k].body;
+ if (!body5)
+ continue;
+ let pushDir = body5.position.minus(pulseCenter);
+ pushDir = pushDir.length() > 0 ? pushDir.normalized() : Qt.vector3d(0, 1, 0);
+ window.pushBody(body5, pushDir.times(350000).plus(Qt.vector3d(0, 100000, 0)));
+ }
+ statusText.text = "multiOverlapQuery: hit count " + overlapHits.length;
+ break;
+ //! [mode-multi-overlap]
+ }
+ }
+
+ function updateScannerState(forwardDir) {
+ if (currentMode < 5) {
+ if (currentMode !== 4) volumeGhost.visible = false;
+ return;
+ }
+
+ let origin = window.probeOrigin(forwardDir);
+ let scanDist = 1200;
+
+ switch (currentMode) {
+
+ //! [mode-test-raycast]
+ case 5: // testRaycastQuery
+ let isBlocked5 = physicsWorld.testRaycastQuery(origin, forwardDir, scanDist, true, true);
+ renderTracer(origin, forwardDir, scanDist, isBlocked5 ? "#ff2d55" : "#00ff66", 10, 10, false);
+
+ statusText.text = isBlocked5 ? "testRaycastQuery: blocked" : "testRaycastQuery: path clear";
+ statusText.color = isBlocked5 ? "#ff2d55" : "#00ff66";
+ break;
+ //! [mode-test-raycast]
+
+ //! [mode-test-sweep]
+ case 6: // testSweepQuery
+ querySphereShape.position = origin;
+ let isBlocked6 = physicsWorld.testSweepQuery(querySphereShape, forwardDir, scanDist, true, true);
+
+ volumeGhost.source = "#Sphere";
+ volumeGhost.position = origin.plus(forwardDir.times(scanDist));
+ volumeGhost.scale = Qt.vector3d(2, 2, 2);
+ ghostMat.baseColor = isBlocked6 ? "#ff2d55" : "#00ff66";
+ volumeGhost.visible = true;
+
+ statusText.text = isBlocked6 ? "testSweepQuery: corridor blocked" : "testSweepQuery: corridor clear";
+ statusText.color = isBlocked6 ? "#ff2d55" : "#00ff66";
+ break;
+ //! [mode-test-sweep]
+
+ //! [mode-test-overlap]
+ case 7: // testOverlapQuery
+ let checkZone = origin.plus(forwardDir.times(500));
+ querySphereShape.position = checkZone;
+ let isOccupied = physicsWorld.testOverlapQuery(querySphereShape, true, true);
+
+ volumeGhost.source = "#Sphere";
+ volumeGhost.position = checkZone;
+ volumeGhost.scale = Qt.vector3d(2, 2, 2);
+ ghostMat.baseColor = isOccupied ? "#ff2d55" : "#00ff66";
+ volumeGhost.visible = true;
+
+ statusText.text = isOccupied ? "testOverlapQuery: volume occupied" : "testOverlapQuery: volume empty";
+ statusText.color = isOccupied ? "#ff2d55" : "#00ff66";
+ break;
+ //! [mode-test-overlap]
+ }
+ }
+
+ function renderTracer(origin, forwardDir, dist, colorHex, thicknessX, thicknessY, isBox) {
+ thicknessX = thicknessX !== undefined ? thicknessX : 10;
+ thicknessY = thicknessY !== undefined ? thicknessY : 10;
+ isBox = isBox !== undefined ? isBox : false;
+
+ tracerMesh.source = isBox ? "#Cube" : "#Cylinder";
+ tracerBeam.position = origin.plus(forwardDir.times(dist / 2));
+ tracerBeam.eulerRotation = Qt.vector3d(cameraRig.eulerRotation.x, player.eulerRotation.y, 0);
+
+ tracerMesh.scale = Qt.vector3d(thicknessX * 0.01, thicknessY * 0.01, dist * 0.01);
+ tracerMat.baseColor = colorHex;
+ tracerMat.opacity = (thicknessX > 50) ? 0.35 : 0.8;
+
+ tracerBeam.visible = true;
+ tracerTimer.restart();
+ }
+
+ ColumnLayout {
+ anchors.left: parent.left
+ anchors.top: parent.top
+ anchors.margins: 15
+ spacing: 10
+
+ Rectangle {
+ implicitWidth: 420
+ implicitHeight: 200
+ color: "#d910141d"
+ radius: 8
+ border.color: "#34495e"
+ border.width: 1
+
+ ColumnLayout {
+ anchors.fill: parent
+ anchors.margins: 12
+
+ Text {
+ text: "PHYSICS SCENE QUERIES"
+ color: "white"
+ font.bold: true
+ font.pixelSize: 14
+ }
+
+ ComboBox {
+ id: modeSelect
+ Layout.fillWidth: true
+ model: window.modeDetails.map(item => "[" + item.type + "] " + item.name)
+ currentIndex: window.currentMode
+ focusPolicy: Qt.NoFocus
+ onActivated: (index) => {
+ window.currentMode = index;
+ inputController.forceActiveFocus();
+ }
+ }
+
+ Text {
+ text: window.modeDetails[window.currentMode].desc
+ color: "#f1c40f"
+ font.pixelSize: 12
+ font.italic: true
+ }
+
+ Text {
+ text: "Controls:"
+ + "\n- WASD: Move character"
+ + "\n- Hold Mouse Drag: Rotate camera"
+ + "\n- Spacebar: Run the selected query"
+ + "\n- Keys 1-8: Switch query modes"
+ color: "#bdc3c7"
+ font.pixelSize: 11
+ }
+
+ Rectangle {
+ Layout.fillWidth: true
+ implicitHeight: 34
+ color: "#000000"
+ radius: 4
+
+ Text {
+ id: statusText
+ anchors.centerIn: parent
+ color: "#00ff66"
+ font.pixelSize: 11
+ font.bold: true
+ }
+ }
+ }
+ }
+ }
+ }