public void Dispose()
{
if (m_WorldAllocated)
{
// Destroy world only if it was allocated
Plugin.HP_DestroyWorld(WorldIndex);
}
if (InputVelocities.IsCreated)
{
InputVelocities.Dispose();
}
unsafe
{
UnsafeUtility.Free(StepContext, Allocator.Persistent);
}
}
// Create a compound collider containing an array of other colliders.
// The source colliders are copied into the compound, so that it becomes one blob.
public static unsafe BlobAssetReference <Collider> Create(NativeArray <ColliderBlobInstance> children)
{
SafetyChecks.CheckNotEmptyAndThrow(children, nameof(children));
// Get the total required memory size for the compound plus all its children,
// and the combined filter of all children
// TODO: Verify that the size is enough
int totalSize = Math.NextMultipleOf16(UnsafeUtility.SizeOf <CompoundCollider>());
CollisionFilter filter = children[0].Collider.Value.Filter;
var srcToDestInstanceAddrs = new NativeHashMap <long, long>(children.Length, Allocator.Temp);
for (var childIndex = 0; childIndex < children.Length; childIndex++)
{
var child = children[childIndex];
var instanceKey = (long)child.Collider.GetUnsafePtr();
if (srcToDestInstanceAddrs.ContainsKey(instanceKey))
{
continue;
}
totalSize += Math.NextMultipleOf16(child.Collider.Value.MemorySize);
filter = CollisionFilter.CreateUnion(filter, child.Collider.Value.Filter);
srcToDestInstanceAddrs.Add(instanceKey, 0L);
}
totalSize += (children.Length + BoundingVolumeHierarchy.Constants.MaxNumTreeBranches) * UnsafeUtility.SizeOf <BoundingVolumeHierarchy.Node>();
// Allocate the collider
var compoundCollider = (CompoundCollider *)UnsafeUtility.Malloc(totalSize, 16, Allocator.Temp);
UnsafeUtility.MemClear(compoundCollider, totalSize);
compoundCollider->m_Header.Type = ColliderType.Compound;
compoundCollider->m_Header.CollisionType = CollisionType.Composite;
compoundCollider->m_Header.Version = 0;
compoundCollider->m_Header.Magic = 0xff;
compoundCollider->m_Header.Filter = filter;
// Initialize children array
Child *childrenPtr = (Child *)((byte *)compoundCollider + UnsafeUtility.SizeOf <CompoundCollider>());
compoundCollider->m_ChildrenBlob.Offset = (int)((byte *)childrenPtr - (byte *)(&compoundCollider->m_ChildrenBlob.Offset));
compoundCollider->m_ChildrenBlob.Length = children.Length;
byte *end = (byte *)childrenPtr + UnsafeUtility.SizeOf <Child>() * children.Length;
end = (byte *)Math.NextMultipleOf16((ulong)end);
uint maxTotalNumColliderKeyBits = 0;
// Copy children
for (int i = 0; i < children.Length; i++)
{
Collider *collider = (Collider *)children[i].Collider.GetUnsafePtr();
var srcInstanceKey = (long)collider;
var dstAddr = srcToDestInstanceAddrs[srcInstanceKey];
if (dstAddr == 0L)
{
dstAddr = (long)end;
srcToDestInstanceAddrs[srcInstanceKey] = dstAddr;
UnsafeUtility.MemCpy(end, collider, collider->MemorySize);
end += Math.NextMultipleOf16(collider->MemorySize);
}
childrenPtr[i].m_ColliderOffset = (int)((byte *)dstAddr - (byte *)(&childrenPtr[i].m_ColliderOffset));
childrenPtr[i].CompoundFromChild = children[i].CompoundFromChild;
maxTotalNumColliderKeyBits = math.max(maxTotalNumColliderKeyBits, collider->TotalNumColliderKeyBits);
}
// Build mass properties
compoundCollider->MassProperties = compoundCollider->BuildMassProperties();
// Build bounding volume
int numNodes = compoundCollider->BuildBoundingVolume(out NativeArray <BoundingVolumeHierarchy.Node> nodes);
int bvhSize = numNodes * UnsafeUtility.SizeOf <BoundingVolumeHierarchy.Node>();
compoundCollider->m_BvhNodesBlob.Offset = (int)(end - (byte *)(&compoundCollider->m_BvhNodesBlob.Offset));
compoundCollider->m_BvhNodesBlob.Length = numNodes;
UnsafeUtility.MemCpy(end, nodes.GetUnsafeReadOnlyPtr(), bvhSize);
end += bvhSize;
// Validate nesting level of composite colliders.
compoundCollider->TotalNumColliderKeyBits = maxTotalNumColliderKeyBits + compoundCollider->NumColliderKeyBits;
// If TotalNumColliderKeyBits is greater than 32, it means maximum nesting level of composite colliders has been breached.
// ColliderKey has 32 bits so it can't handle infinite nesting of composite colliders.
if (compoundCollider->TotalNumColliderKeyBits > 32)
{
SafetyChecks.ThrowArgumentException(nameof(children), "Composite collider exceeded maximum level of nesting!");
}
// Copy to blob asset
int usedSize = (int)(end - (byte *)compoundCollider);
UnityEngine.Assertions.Assert.IsTrue(usedSize < totalSize);
compoundCollider->MemorySize = usedSize;
var blob = BlobAssetReference <Collider> .Create(compoundCollider, usedSize);
UnsafeUtility.Free(compoundCollider, Allocator.Temp);
return(blob);
}
// Create a compound collider containing an array of other colliders.
// The source colliders are copied into the compound, so that it becomes one blob.
public static unsafe BlobAssetReference <Collider> Create(NativeArray <ColliderBlobInstance> children)
{
if (children.Length == 0)
{
throw new ArgumentException();
}
// Get the total required memory size for the compound plus all its children,
// and the combined filter of all children
// TODO: Verify that the size is enough
int totalSize = Math.NextMultipleOf16(UnsafeUtility.SizeOf <CompoundCollider>());
CollisionFilter filter = children[0].Collider.Value.Filter;
foreach (var child in children)
{
totalSize += Math.NextMultipleOf16(child.Collider.Value.MemorySize);
filter = CollisionFilter.CreateUnion(filter, child.Collider.Value.Filter);
}
totalSize += (children.Length + BoundingVolumeHierarchy.Constants.MaxNumTreeBranches) * UnsafeUtility.SizeOf <BoundingVolumeHierarchy.Node>();
// Allocate the collider
var compoundCollider = (CompoundCollider *)UnsafeUtility.Malloc(totalSize, 16, Allocator.Temp);
UnsafeUtility.MemClear(compoundCollider, totalSize);
compoundCollider->m_Header.Type = ColliderType.Compound;
compoundCollider->m_Header.CollisionType = CollisionType.Composite;
compoundCollider->m_Header.Version = 0;
compoundCollider->m_Header.Magic = 0xff;
compoundCollider->m_Header.Filter = filter;
// Initialize children array
Child *childrenPtr = (Child *)((byte *)compoundCollider + UnsafeUtility.SizeOf <CompoundCollider>());
compoundCollider->m_ChildrenBlob.Offset = (int)((byte *)childrenPtr - (byte *)(&compoundCollider->m_ChildrenBlob.Offset));
compoundCollider->m_ChildrenBlob.Length = children.Length;
byte *end = (byte *)childrenPtr + UnsafeUtility.SizeOf <Child>() * children.Length;
end = (byte *)Math.NextMultipleOf16((ulong)end);
// Copy children
for (int i = 0; i < children.Length; i++)
{
Collider *collider = (Collider *)children[i].Collider.GetUnsafePtr();
UnsafeUtility.MemCpy(end, collider, collider->MemorySize);
childrenPtr[i].m_ColliderOffset = (int)(end - (byte *)(&childrenPtr[i].m_ColliderOffset));
childrenPtr[i].CompoundFromChild = children[i].CompoundFromChild;
end += Math.NextMultipleOf16(collider->MemorySize);
}
// Build mass properties
compoundCollider->MassProperties = compoundCollider->BuildMassProperties();
// Build bounding volume
int numNodes = compoundCollider->BuildBoundingVolume(out NativeArray <BoundingVolumeHierarchy.Node> nodes);
int bvhSize = numNodes * UnsafeUtility.SizeOf <BoundingVolumeHierarchy.Node>();
compoundCollider->m_BvhNodesBlob.Offset = (int)(end - (byte *)(&compoundCollider->m_BvhNodesBlob.Offset));
compoundCollider->m_BvhNodesBlob.Length = numNodes;
UnsafeUtility.MemCpy(end, nodes.GetUnsafeReadOnlyPtr(), bvhSize);
end += bvhSize;
nodes.Dispose();
// Copy to blob asset
int usedSize = (int)(end - (byte *)compoundCollider);
UnityEngine.Assertions.Assert.IsTrue(usedSize < totalSize);
compoundCollider->MemorySize = usedSize;
var blob = BlobAssetReference <Collider> .Create(compoundCollider, usedSize);
UnsafeUtility.Free(compoundCollider, Allocator.Temp);
return(blob);
}