public void Execute(ArchetypeChunk chunk, int chunkIndex, int firstEntityIndex)
{
NativeArray <KinematicMotor> chunkMotors = chunk.GetNativeArray(KinematicMotorType);
NativeArray <Movement> chunkMovements = chunk.GetNativeArray(MovementType);
NativeArray <PhysicsCollider> chunkColliders = chunk.GetNativeArray(PhysicsColliderType);
NativeArray <Translation> chunkTranslations = chunk.GetNativeArray(TranslationType);
NativeArray <Rotation> chunkRotations = chunk.GetNativeArray(RotationType);
for (int i = 0; i < chunk.Count; i++)
{
KinematicMotor motor = chunkMotors[i];
Movement movement = chunkMovements[i];
PhysicsCollider collider = chunkColliders[i];
Translation translation = chunkTranslations[i];
Rotation rotation = chunkRotations[i];
RigidTransform transform = new RigidTransform
{
pos = translation.Value,
rot = rotation.Value
};
float3 velocity = movement.Value;
unsafe
{
Collider *queryCollider;
{
Collider *colliderPtr = collider.ColliderPtr;
byte *copiedColliderMemory = stackalloc byte[colliderPtr->MemorySize];
queryCollider = (Collider *)(copiedColliderMemory);
UnsafeUtility.MemCpy(queryCollider, colliderPtr, colliderPtr->MemorySize);
queryCollider->Filter = CollisionFilter.Default;
}
KinematicMotorUtilities.SolveCollisionConstraints(World, DeltaTime, motor.MaxIterations, motor.SkinWidth, 360, queryCollider, ref transform, ref velocity, ref DistanceHits, ref ColliderCastHits, ref SurfaceConstraintInfos);
}
translation.Value = transform.pos;
movement.Value = velocity;
// Apply data back to chunk
{
chunkTranslations[i] = translation;
chunkMovements[i] = movement;
}
}
}
public void Execute(ArchetypeChunk chunk, int chunkIndex, int firstEntityIndex)
{
NativeArray <CharacterController> chunkCharacterControllers = chunk.GetNativeArray(CharacterControllerType);
NativeArray <PhysicsCollider> chunkPhysicsColliders = chunk.GetNativeArray(PhysicsColliderType);
NativeArray <Translation> chunkTranslations = chunk.GetNativeArray(TranslationType);
NativeArray <Rotation> chunkRotations = chunk.GetNativeArray(RotationType);
for (int i = 0; i < chunk.Count; i++)
{
CharacterController controller = chunkCharacterControllers[i];
PhysicsCollider collider = chunkPhysicsColliders[i];
Translation translation = chunkTranslations[i];
Rotation rotation = chunkRotations[i];
RigidTransform transform = new RigidTransform
{
pos = translation.Value,
rot = rotation.Value
};
unsafe
{
Collider *queryCollider;
{
Collider *colliderPtr = collider.ColliderPtr;
byte *copiedColliderMemory = stackalloc byte[colliderPtr->MemorySize];
queryCollider = (Collider *)(copiedColliderMemory);
UnsafeUtility.MemCpy(queryCollider, colliderPtr, colliderPtr->MemorySize);
queryCollider->Filter = CollisionFilter.Default;
}
KinematicMotorUtilities.MaxHitCollector <DistanceHit> distanceHitCollector = new KinematicMotorUtilities.MaxHitCollector <DistanceHit>(controller.GroundTollerance, ref DistanceHits);
{
ColliderDistanceInput input = new ColliderDistanceInput
{
MaxDistance = controller.GroundTollerance,
Transform = transform,
Collider = queryCollider
};
World.CalculateDistance(input, ref distanceHitCollector);
}
for (int hitIndex = 0; hitIndex < distanceHitCollector.NumHits; hitIndex++)
{
DistanceHit hit = distanceHitCollector.AllHits[hitIndex];
KinematicMotorUtilities.CreateConstraintFromHit(World, hit.ColliderKey, hit.RigidBodyIndex, hit.Position, float3.zero, hit.SurfaceNormal, hit.Distance, DeltaTime, out SurfaceConstraintInfo constraint);
SurfaceConstraintInfos[hitIndex] = constraint;
}
float3 outPosition = transform.pos;
float3 outVelocity = -math.up();
SimplexSolver.Solve(World, DeltaTime, math.up(), distanceHitCollector.NumHits, ref SurfaceConstraintInfos, ref outPosition, ref outVelocity, out float integratedTime);
if (distanceHitCollector.NumHits == 0)
{
controller.State = CharacterControllerState.NONE;
}
else
{
outVelocity = math.normalize(outVelocity);
float slopeAngleSin = math.dot(outVelocity, -math.up());
float slopeAngleCosSq = 1 - slopeAngleSin * slopeAngleSin;
float maxSlopeCos = math.cos(controller.MaxSlope);
controller.State = CharacterControllerState.GROUNDED;
}
}
// Apply data back to chunk
{
chunkCharacterControllers[i] = controller;
}
}
}
