public static bool OverlapSphereCustom <T, C>(ref T target, float3 position, float radius, ref C collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
where T : struct, ICollidable
where C : struct, ICollector <DistanceHit>
{
PointDistanceInput input = new PointDistanceInput
{
Filter = filter,
MaxDistance = radius,
Position = position
};
if (queryInteraction == QueryInteraction.Default)
{
return(target.CalculateDistance(input, ref collector));
}
else
{
unsafe
{
var interactionCollector = new QueryInteractionCollector <DistanceHit, C>
{
Collector = collector
};
bool returnValue = target.CalculateDistance(input, ref interactionCollector);
collector = interactionCollector.Collector;
return(returnValue);
}
}
}
public bool DistanceLeaf <T>(PointDistanceInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <DistanceHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
// Transform the input into body space
var worldFromBody = new MTransform(body.WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
var inputLs = new PointDistanceInput
{
Position = Mul(bodyFromWorld, input.Position),
MaxDistance = input.MaxDistance,
Filter = input.Filter,
QueryContext = new QueryContext
{
RigidBodyIndex = rigidBodyIndex,
ColliderKey = ColliderKey.Empty,
NumColliderKeyBits = 0,
WorldFromLocalTransform = worldFromBody,
Entity = body.Entity,
IsInitialized = true
}
};
return(body.CalculateDistance(inputLs, ref collector));
}
public unsafe bool CalculateDistance <T>(PointDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
fixed(TerrainCollider *target = &this)
{
return(DistanceQueries.PointCollider(input, (Collider *)target, ref collector));
}
}
public bool DistanceLeaf <T>(PointDistanceInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <DistanceHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
// Transform the input into body space
var worldFromBody = new MTransform(body.WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
var inputLs = new PointDistanceInput
{
Position = Mul(bodyFromWorld, input.Position),
MaxDistance = input.MaxDistance,
Filter = input.Filter
};
float fraction = collector.MaxFraction;
int numHits = collector.NumHits;
if (body.CalculateDistance(inputLs, ref collector))
{
// Transform results back into world space
collector.TransformNewHits(numHits, fraction, worldFromBody, rigidBodyIndex);
return(true);
}
return(false);
}
public bool CalculateDistance <T>(PointDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
// Transform the input into body space
MTransform worldFromBody = new MTransform(WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
input.Position = Mul(bodyFromWorld, input.Position);
SetQueryContextParameters(ref input.QueryContext, ref worldFromBody);
return(Collider.IsCreated && Collider.Value.CalculateDistance(input, ref collector));
}
public bool DistanceLeaf <T>(PointDistanceInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <DistanceHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
input.QueryContext.IsInitialized = true;
input.QueryContext.RigidBodyIndex = rigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
return(body.CalculateDistance(input, ref collector));
}
public static bool CalculateDistance <T>(ref T target, PointDistanceInput input, out DistanceHit result) where T : struct, ICollidable
{
var collector = new ClosestHitCollector <DistanceHit>(input.MaxDistance);
if (target.CalculateDistance(input, ref collector))
{
result = collector.ClosestHit; // TODO: would be nice to avoid this copy
return(true);
}
result = new DistanceHit();
return(false);
}
public bool CalculateDistance <T>(PointDistanceInput input, NativeSlice <RigidBody> rigidBodies, ref T collector)
where T : struct, ICollector <DistanceHit>
{
if (input.Filter.IsEmpty)
{
return(false);
}
var leafProcessor = new BvhLeafProcessor(rigidBodies);
leafProcessor.BaseRigidBodyIndex = m_DynamicTree.NumBodies;
bool hasHit = m_StaticTree.BoundingVolumeHierarchy.Distance(input, ref leafProcessor, ref collector);
leafProcessor.BaseRigidBodyIndex = 0;
hasHit |= m_DynamicTree.BoundingVolumeHierarchy.Distance(input, ref leafProcessor, ref collector);
return(hasHit);
}
public bool DistanceLeaf <T>(PointDistanceInput input, int primitiveKey, ref T collector)
where T : struct, ICollector <DistanceHit>
{
m_Mesh->GetPrimitive(primitiveKey, out float3x4 vertices, out Mesh.PrimitiveFlags flags, out CollisionFilter filter);
if (!CollisionFilter.IsCollisionEnabled(input.Filter, filter)) // TODO: could do this check within GetPrimitive()
{
return(false);
}
int numPolygons = Mesh.GetNumPolygonsInPrimitive(flags);
bool isQuad = Mesh.IsPrimitveFlagSet(flags, Mesh.PrimitiveFlags.IsQuad);
float3 normalDirection = math.cross(vertices[1] - vertices[0], vertices[2] - vertices[0]);
bool acceptHit = false;
for (int polygonIndex = 0; polygonIndex < numPolygons; polygonIndex++)
{
Result result;
if (isQuad)
{
result = QuadSphere(
vertices[0], vertices[1], vertices[2], vertices[3], normalDirection,
input.Position, 0.0f, MTransform.Identity);
}
else
{
result = TriangleSphere(
vertices[0], vertices[1], vertices[2], normalDirection,
input.Position, 0.0f, MTransform.Identity);
}
if (result.Distance < collector.MaxFraction)
{
acceptHit |= collector.AddHit(new DistanceHit
{
Fraction = result.Distance,
Position = result.PositionOnAinA,
SurfaceNormal = -result.NormalInA,
ColliderKey = new ColliderKey(m_NumColliderKeyBits, (uint)(primitiveKey << 1 | polygonIndex))
});
}
}
return(acceptHit);
}
public bool CalculateDistance <T>(PointDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
return(CollisionWorld.CalculateDistance(input, ref collector));
}
public bool CalculateDistance(PointDistanceInput input, ref NativeList <DistanceHit> allHits) => QueryWrappers.CalculateDistance(ref this, input, ref allHits);
public static bool CalculateDistance <T>(ref T target, PointDistanceInput input) where T : struct, ICollidable
{
var collector = new AnyHitCollector <DistanceHit>(input.MaxDistance);
return(target.CalculateDistance(input, ref collector));
}
public static unsafe bool PointCollider <T>(PointDistanceInput input, Collider *target, ref T collector) where T : struct, ICollector <DistanceHit>
{
if (!CollisionFilter.IsCollisionEnabled(input.Filter, target->Filter))
{
return(false);
}
Result result;
switch (target->Type)
{
case ColliderType.Sphere:
var sphere = (SphereCollider *)target;
result = PointPoint(sphere->Center, input.Position, sphere->Radius, sphere->Radius);
break;
case ColliderType.Capsule:
var capsule = (CapsuleCollider *)target;
result = CapsuleSphere(capsule->Vertex0, capsule->Vertex1, capsule->Radius, input.Position, 0.0f, MTransform.Identity);
break;
case ColliderType.Triangle:
var triangle = (PolygonCollider *)target;
result = TriangleSphere(
triangle->Vertices[0], triangle->Vertices[1], triangle->Vertices[2], triangle->Planes[0].Normal,
input.Position, 0.0f, MTransform.Identity);
break;
case ColliderType.Quad:
var quad = (PolygonCollider *)target;
result = QuadSphere(
quad->Vertices[0], quad->Vertices[1], quad->Vertices[2], quad->Vertices[3], quad->Planes[0].Normal,
input.Position, 0.0f, MTransform.Identity);
break;
case ColliderType.Convex:
case ColliderType.Box:
case ColliderType.Cylinder:
ref ConvexHull hull = ref ((ConvexCollider *)target)->ConvexHull;
result = ConvexConvex(hull.VerticesPtr, hull.NumVertices, hull.ConvexRadius, &input.Position, 1, 0.0f, MTransform.Identity);
break;
case ColliderType.Mesh:
return(PointMesh(input, (MeshCollider *)target, ref collector));
case ColliderType.Compound:
return(PointCompound(input, (CompoundCollider *)target, ref collector));
default:
throw new NotImplementedException();
}
if (result.Distance < collector.MaxFraction)
{
collector.AddHit(new DistanceHit
{
Fraction = result.Distance,
SurfaceNormal = -result.NormalInA,
Position = result.PositionOnAinA,
ColliderKey = ColliderKey.Empty
});
return(true);
}
return(false);
}
public bool CalculateDistance(PointDistanceInput input) => QueryWrappers.CalculateDistance(ref this, input);
public static bool CalculateDistance <T>(ref T target, PointDistanceInput input, ref NativeList <DistanceHit> allHits) where T : struct, ICollidable
{
var collector = new AllHitsCollector <DistanceHit>(input.MaxDistance, ref allHits);
return(target.CalculateDistance(input, ref collector));
}
public bool CalculateDistance(PointDistanceInput input, out DistanceHit closestHit) => QueryWrappers.CalculateDistance(ref this, input, out closestHit);
public bool CalculateDistance <T>(PointDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
return(Collider != null && Collider->CalculateDistance(input, ref collector));
}
public bool CalculateDistance <T>(PointDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
return(Broadphase.CalculateDistance(input, m_Bodies, ref collector));
}
public bool CalculateDistance <T>(PointDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
return(Collider.IsCreated && Collider.Value.CalculateDistance(input, ref collector));
}
