internal static void GetBakedMeshProperties(
this PhysicsShapeAuthoring shape, NativeList <float3> pointCloud, NativeList <int3> triangles, out Hash128 hashedInputs
)
{
using (var inputs = new NativeList <HashableShapeInputs>(8, Allocator.TempJob))
{
shape.GetMeshProperties(pointCloud, triangles, true, inputs);
shape.BakePoints(pointCloud);
using (var hash = new NativeArray <Hash128>(1, Allocator.TempJob))
using (var allSkinIndices = new NativeArray <int>(0, Allocator.TempJob))
using (var allBlendShapeWeights = new NativeArray <float>(0, Allocator.TempJob))
{
var job = new GetShapeInputsHashJob
{
Result = hash,
ForceUniqueIdentifier = (uint)(shape.ForceUnique ? shape.GetInstanceID() : 0),
Material = shape.GetMaterial(),
CollisionFilter = shape.GetFilter(),
BakeFromShape = shape.GetLocalToShapeMatrix(),
Inputs = inputs,
AllSkinIndices = allSkinIndices,
AllBlendShapeWeights = allBlendShapeWeights
};
job.Run();
hashedInputs = hash[0];
}
}
}
internal static void SetBakedCylinderSize(this PhysicsShapeAuthoring shape, float height, float radius, float bevelRadius)
{
var cylinder = shape.GetCylinderProperties(out EulerAngles orientation);
var center = cylinder.Center;
var bakeToShape = BakeCylinderJob.GetBakeToShape(shape, center, orientation);
var scale = bakeToShape.DecomposeScale();
var newRadius = radius / math.cmax(scale.xy);
if (math.abs(cylinder.Radius - newRadius) > kMinimumChange)
{
cylinder.Radius = newRadius;
}
if (math.abs(cylinder.BevelRadius - bevelRadius) > kMinimumChange)
{
cylinder.BevelRadius = bevelRadius;
}
var newHeight = math.max(0, height / scale.z);
if (math.abs(cylinder.Height - newHeight) > kMinimumChange)
{
cylinder.Height = newHeight;
}
shape.SetCylinder(cylinder, orientation);
}
internal static Hash128 GetBakedConvexInputs(this PhysicsShapeAuthoring shape, HashSet <UnityEngine.Mesh> meshAssets)
{
using (var inputs = new NativeList <HashableShapeInputs>(8, Allocator.TempJob))
using (var allSkinIndices = new NativeList <int>(4096, Allocator.TempJob))
using (var allBlendShapeWeights = new NativeList <float>(64, Allocator.TempJob))
{
shape.GetConvexHullProperties(default, true, inputs, allSkinIndices, allBlendShapeWeights, meshAssets);
internal static void GetBakedMeshProperties(
this PhysicsShapeAuthoring shape, NativeList <float3> pointCloud, NativeList <int> triangles
)
{
shape.GetMeshProperties(pointCloud, triangles);
shape.BakePoints(pointCloud);
}
internal static void SetBakedBoxSize(this PhysicsShapeAuthoring shape, float3 size, float bevelRadius)
{
var box = shape.GetBoxProperties(out var orientation);
var center = box.Center;
var prevSize = math.abs(box.Size);
size = math.abs(size);
var bakeToShape = BakeBoxJob.GetBakeToShape(shape, center, orientation);
var scale = bakeToShape.DecomposeScale();
size /= scale;
if (math.abs(size[0] - prevSize[0]) < kMinimumChange)
{
size[0] = prevSize[0];
}
if (math.abs(size[1] - prevSize[1]) < kMinimumChange)
{
size[1] = prevSize[1];
}
if (math.abs(size[2] - prevSize[2]) < kMinimumChange)
{
size[2] = prevSize[2];
}
box.BevelRadius = bevelRadius;
box.Size = size;
shape.SetBox(box, orientation);
}
public static float4x4 GetBakeToShape(PhysicsShapeAuthoring shape, float3 center, EulerAngles orientation)
{
var transform = shape.transform;
var localToWorld = (float4x4)transform.localToWorldMatrix;
var shapeToWorld = shape.GetShapeToWorldMatrix();
return(GetBakeToShape(localToWorld, shapeToWorld, ref center, ref orientation));
}
internal static CapsuleGeometry GetBakedCapsuleProperties(
this PhysicsShapeAuthoring shape, out float3 center, out float height, out EulerAngles orientation
)
{
var capsule = shape.GetCapsuleProperties(out orientation);
return(capsule.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), out center, out height, ref orientation));
}
internal static CollisionFilter GetFilter(this PhysicsShapeAuthoring shape)
{
// TODO: determine optimal workflow for specifying group index
return(new CollisionFilter
{
BelongsTo = shape.BelongsTo.Value,
CollidesWith = shape.CollidesWith.Value
});
}
internal static BoxGeometry GetBakedBoxProperties(this PhysicsShapeAuthoring shape)
{
var box = shape.GetBoxProperties(out var orientation);
var center = box.Center;
var size = box.Size;
var bevelRadius = box.BevelRadius;
var localToWorld = (float4x4)shape.transform.localToWorldMatrix;
float4x4 bakeToShape;
var basisPriority = k_DefaultAxisPriority;
var sheared = localToWorld.HasShear();
if (localToWorld.HasNonUniformScale() || sheared)
{
if (sheared)
{
var basisToWorld =
GetBasisToWorldMatrix(shape.transform.localToWorldMatrix, center, orientation, size);
basisPriority = GetBasisAxisPriority(basisToWorld);
}
bakeToShape =
GetPrimitiveBakeToShapeMatrix(shape, ref center, ref orientation, size, basisPriority);
var s = new float3(
math.length(bakeToShape[basisPriority[2]]),
math.length(bakeToShape[basisPriority[1]]),
math.length(bakeToShape[basisPriority[0]])
);
bevelRadius *= math.cmin(s / size);
size = s;
}
else
{
bakeToShape =
GetPrimitiveBakeToShapeMatrix(shape, ref center, ref orientation, 1f, basisPriority);
var s = new float3(
math.length(bakeToShape.c0),
math.length(bakeToShape.c1),
math.length(bakeToShape.c2)
);
bevelRadius *= math.cmin(s);
size *= s;
}
return(new BoxGeometry
{
Center = center,
Orientation = orientation,
Size = size,
BevelRadius = bevelRadius
});
}
internal static void GetBakedPlaneProperties(
this PhysicsShapeAuthoring shape, out float3 vertex0, out float3 vertex1, out float3 vertex2, out float3 vertex3
)
{
shape.GetPlaneProperties(out var center, out var size, out EulerAngles orientation);
BakeToBodySpace(
center, size, orientation, shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(),
out vertex0, out vertex1, out vertex2, out vertex3
);
}
internal static void GetBakedConvexProperties(
this PhysicsShapeAuthoring shape, NativeList <float3> pointCloud, out ConvexHullGenerationParameters generationParameters,
out Hash128 hashedInputs
)
{
using (var inputs = new NativeList <HashableShapeInputs>(8, Allocator.TempJob))
using (var allSkinIndices = new NativeList <int>(4096, Allocator.TempJob))
using (var allBlendShapeWeights = new NativeList <float>(64, Allocator.TempJob))
{
shape.GetConvexHullProperties(pointCloud, true, inputs, allSkinIndices, allBlendShapeWeights);
shape.BakePoints(pointCloud);
// compute convex radius
var center = float3.zero;
var orientation = EulerAngles.Default;
var localToWorld = shape.transform.localToWorldMatrix;
var shapeToWorld = shape.GetShapeToWorldMatrix();
var bakeToShape =
GetPrimitiveBakeToShapeMatrix(localToWorld, shapeToWorld, ref center, ref orientation, 1f, k_DefaultAxisPriority);
using (var aabb = new NativeArray <Aabb>(1, Allocator.TempJob))
{
new GetAabbJob {
Points = pointCloud, Aabb = aabb
}.Run();
HashableShapeInputs.GetQuantizedTransformations(bakeToShape, aabb[0], out bakeToShape);
}
var s = new float3(math.length(bakeToShape[0]), math.length(bakeToShape[1]), math.length(bakeToShape[2]));
generationParameters = shape.ConvexHullGenerationParameters;
generationParameters.SimplificationTolerance = math.max(
ConvexHullGenerationParametersExtensions.k_MinRecommendedSimplificationTolerance,
math.cmax(s) * generationParameters.SimplificationTolerance
);
generationParameters.BevelRadius *= math.cmin(s);
using (var hash = new NativeArray <Hash128>(1, Allocator.TempJob))
{
var job = new GetShapeInputsHashJob
{
Result = hash,
ForceUniqueIdentifier = (uint)(shape.ForceUnique ? shape.GetInstanceID() : 0),
GenerationParameters = generationParameters,
Material = shape.GetMaterial(),
CollisionFilter = shape.GetFilter(),
BakeFromShape = shape.GetLocalToShapeMatrix(),
Inputs = inputs,
AllSkinIndices = allSkinIndices,
AllBlendShapeWeights = allBlendShapeWeights
};
job.Run();
hashedInputs = hash[0];
}
}
}
internal static void GetBakedPlaneProperties(
this PhysicsShapeAuthoring shape, out float3 vertex0, out float3 vertex1, out float3 vertex2, out float3 vertex3
)
{
GetPlanePoints(shape, out vertex0, out vertex1, out vertex2, out vertex3);
var localToShape = shape.GetLocalToShapeMatrix();
vertex0 = math.mul(localToShape, new float4(vertex0, 1f)).xyz;
vertex1 = math.mul(localToShape, new float4(vertex1, 1f)).xyz;
vertex2 = math.mul(localToShape, new float4(vertex2, 1f)).xyz;
vertex3 = math.mul(localToShape, new float4(vertex3, 1f)).xyz;
}
internal static void GetPlanePoints(
this PhysicsShapeAuthoring shape, out float3 vertex0, out float3 vertex1, out float3 vertex2, out float3 vertex3
)
{
shape.GetPlaneProperties(out var center, out var size, out EulerAngles orientation);
var sizeYUp = math.float3(size.x, 0, size.y);
vertex0 = center + math.mul(orientation, sizeYUp * math.float3(-0.5f, 0, 0.5f));
vertex1 = center + math.mul(orientation, sizeYUp * math.float3(0.5f, 0, 0.5f));
vertex2 = center + math.mul(orientation, sizeYUp * math.float3(0.5f, 0, -0.5f));
vertex3 = center + math.mul(orientation, sizeYUp * math.float3(-0.5f, 0, -0.5f));
}
internal static Material GetMaterial(this PhysicsShapeAuthoring shape)
{
// TODO: TBD how we will author editor content for other shape flags
return(new Material
{
Friction = shape.Friction.Value,
FrictionCombinePolicy = shape.Friction.CombineMode,
Restitution = shape.Restitution.Value,
RestitutionCombinePolicy = shape.Restitution.CombineMode,
CollisionResponse = shape.CollisionResponse,
CustomTags = shape.CustomTags.Value
});
}
public GetActiveChildrenScope(PhysicsShapeAuthoring shape, Transform root)
{
m_Disposed = false;
m_Shape = shape;
m_Root = root;
m_PrimaryBody = PhysicsShapeExtensions.GetPrimaryBody(root.gameObject);
m_CheckIfComponentBelongsToShape = root.transform.IsChildOf(shape.transform);
if (s_BufferUsed)
{
throw new InvalidOperationException($"Cannot nest two {GetType()}");
}
s_BufferUsed = true;
root.GetComponentsInChildren(true, s_Buffer);
}
// matrix to transform point on a primitive from bake space into space of the shape
static float4x4 GetPrimitiveBakeToShapeMatrix(
PhysicsShapeAuthoring shape, ref float3 center, ref EulerAngles orientation, float3 scale, int3 basisPriority
)
{
if (
basisPriority.x == basisPriority.y ||
basisPriority.x == basisPriority.z ||
basisPriority.y == basisPriority.z
)
{
throw new ArgumentException(nameof(basisPriority));
}
var localToBasis = float4x4.TRS(center, orientation, scale);
// correct for imprecision in cases of no scale to prevent e.g., convex radius from being altered
if (scale.Equals(new float3(1f)))
{
localToBasis.c0 = math.normalizesafe(localToBasis.c0);
localToBasis.c1 = math.normalizesafe(localToBasis.c1);
localToBasis.c2 = math.normalizesafe(localToBasis.c2);
}
var localToBake = math.mul(shape.transform.localToWorldMatrix, localToBasis);
if (localToBake.HasNonUniformScale() || localToBake.HasShear())
{
// deskew second longest axis with respect to longest axis
localToBake[basisPriority[1]] =
DeskewSecondaryAxis(localToBake[basisPriority[0]], localToBake[basisPriority[1]]);
// recompute third axes from first two
var n2 = math.normalizesafe(
new float4(math.cross(localToBake[basisPriority[0]].xyz, localToBake[basisPriority[1]].xyz), 0f)
);
localToBake[basisPriority[2]] = n2 * math.dot(localToBake[basisPriority[2]], n2);
}
var bakeToShape = math.mul(math.inverse(shape.GetShapeToWorldMatrix()), localToBake);
// transform baked center/orientation (i.e. primitive basis) into shape space
orientation.SetValue(
quaternion.LookRotationSafe(bakeToShape[basisPriority[0]].xyz, bakeToShape[basisPriority[1]].xyz)
);
center = bakeToShape.c3.xyz;
return(bakeToShape);
}
internal static void SetBakedSphereRadius(this PhysicsShapeAuthoring shape, float radius)
{
var sphere = shape.GetSphereProperties(out EulerAngles eulerAngles);
var center = sphere.Center;
radius = math.abs(radius);
var basisToWorld = GetBasisToWorldMatrix(shape.transform.localToWorldMatrix, center, eulerAngles, 1f);
var basisPriority = basisToWorld.HasShear() ? GetBasisAxisPriority(basisToWorld) : k_DefaultAxisPriority;
var bakeToShape = GetPrimitiveBakeToShapeMatrix(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), ref center, ref eulerAngles, 1f, basisPriority);
var scale = math.cmax(bakeToShape.DecomposeScale());
var newRadius = radius / scale;
sphere.Radius = newRadius;
shape.SetSphere(sphere);
}
internal static CapsuleGeometry GetBakedCapsuleProperties(
this PhysicsShapeAuthoring shape,
out float3 center, out float height, out EulerAngles orientation
)
{
var capsule = shape.GetCapsuleProperties(out orientation);
var radius = capsule.Radius;
center = capsule.GetCenter();
height = capsule.GetHeight();
var s = new float3(radius * 2f, radius * 2f, height);
var localToWorld = (float4x4)shape.transform.localToWorldMatrix;
var basisToWorld = GetBasisToWorldMatrix(localToWorld, center, orientation, s);
var basisPriority = k_DefaultAxisPriority;
var sheared = localToWorld.HasShear();
if (localToWorld.HasNonUniformScale() || sheared)
{
if (sheared)
{
basisPriority = GetBasisAxisPriority(basisToWorld);
}
MakeZAxisPrimaryBasis(ref basisPriority);
}
var bakeToShape = GetPrimitiveBakeToShapeMatrix(shape, ref center, ref orientation, 1f, basisPriority);
height *= math.length(bakeToShape.c2);
radius *= math.max(math.length(bakeToShape.c0), math.length(bakeToShape.c1));
var axis = math.mul(orientation, new float3 {
z = 1f
});
var endPoint = axis * math.max(0f, 0.5f * height - radius);
return(new CapsuleGeometry
{
Vertex0 = center + endPoint,
Vertex1 = center - endPoint,
Radius = radius
});
}
internal static CylinderGeometry GetBakedCylinderProperties(this PhysicsShapeAuthoring shape)
{
var cylinder = shape.GetCylinderProperties(out var orientation);
var center = cylinder.Center;
var height = cylinder.Height;
var radius = cylinder.Radius;
var size = new float3(radius * 2f, radius * 2f, height);
var localToWorld = (float4x4)shape.transform.localToWorldMatrix;
var basisToWorld = GetBasisToWorldMatrix(localToWorld, center, orientation, size);
var basisPriority = k_DefaultAxisPriority;
var sheared = localToWorld.HasShear();
if (localToWorld.HasNonUniformScale() || sheared)
{
if (sheared)
{
basisPriority = GetBasisAxisPriority(basisToWorld);
}
MakeZAxisPrimaryBasis(ref basisPriority);
}
var bakeToShape = GetPrimitiveBakeToShapeMatrix(shape, ref center, ref orientation, 1f, basisPriority);
height *= math.length(bakeToShape.c2);
radius *= math.max(math.length(bakeToShape.c0), math.length(bakeToShape.c1));
var s = new float3(
math.length(bakeToShape[basisPriority[2]]),
math.length(bakeToShape[basisPriority[1]]),
math.length(bakeToShape[basisPriority[0]])
);
return(new CylinderGeometry
{
Center = center,
Orientation = orientation,
Height = height,
Radius = radius,
BevelRadius = math.min(cylinder.BevelRadius * math.cmax(s / size), height * 0.5f),
SideCount = cylinder.SideCount
});
}
internal static SphereGeometry GetBakedSphereProperties(this PhysicsShapeAuthoring shape, out EulerAngles orientation)
{
var sphere = shape.GetSphereProperties(out orientation);
var center = sphere.Center;
var radius = sphere.Radius;
var basisToWorld = GetBasisToWorldMatrix(shape.transform.localToWorldMatrix, center, orientation, 1f);
var basisPriority = basisToWorld.HasShear() ? GetBasisAxisPriority(basisToWorld) : k_DefaultAxisPriority;
var bakeToShape = GetPrimitiveBakeToShapeMatrix(shape, ref center, ref orientation, 1f, basisPriority);
radius *= math.cmax(
new float3(math.length(bakeToShape.c0), math.length(bakeToShape.c1), math.length(bakeToShape.c2))
);
return(new SphereGeometry
{
Center = center,
Radius = radius
});
}
internal static void SetBakedPlaneSize(this PhysicsShapeAuthoring shape, float2 size)
{
shape.GetPlaneProperties(out var center, out var planeSize, out EulerAngles orientation);
var prevSize = math.abs(planeSize);
size = math.abs(size);
if (math.abs(size[0] - prevSize[0]) < kMinimumChange)
{
size[0] = prevSize[0];
}
if (math.abs(size[1] - prevSize[1]) < kMinimumChange)
{
size[1] = prevSize[1];
}
planeSize = size;
shape.SetPlane(center, planeSize, orientation);
}
internal static void GetBakedConvexProperties(
this PhysicsShapeAuthoring shape, NativeList <float3> pointCloud, out ConvexHullGenerationParameters generationParameters
)
{
shape.GetConvexHullProperties(pointCloud);
shape.BakePoints(pointCloud);
// compute convex radius
var center = float3.zero;
var orientation = EulerAngles.Default;
var bakeToShape =
GetPrimitiveBakeToShapeMatrix(shape, ref center, ref orientation, 1f, k_DefaultAxisPriority);
var s = new float3(math.length(bakeToShape[0]), math.length(bakeToShape[1]), math.length(bakeToShape[2]));
generationParameters = shape.ConvexHullGenerationParameters;
generationParameters.SimplificationTolerance = math.max(
ConvexHullGenerationParametersExtensions.k_MinRecommendedSimplificationTolerance,
math.cmax(s) * generationParameters.SimplificationTolerance
);
generationParameters.BevelRadius *= math.cmin(s);
}
internal static Material GetMaterial(this PhysicsShapeAuthoring shape)
{
// TODO: TBD how we will author editor content for other shape flags
var flags = new Material.MaterialFlags();
if (shape.IsTrigger)
{
flags = Material.MaterialFlags.IsTrigger;
}
else if (shape.RaisesCollisionEvents)
{
flags = Material.MaterialFlags.EnableCollisionEvents;
}
return(new Material
{
Friction = shape.Friction.Value,
FrictionCombinePolicy = shape.Friction.CombineMode,
Restitution = shape.Restitution.Value,
RestitutionCombinePolicy = shape.Restitution.CombineMode,
Flags = flags,
CustomTags = shape.CustomTags.Value
});
}
internal static void SetBakedCapsuleSize(this PhysicsShapeAuthoring shape, float height, float radius)
{
var capsule = shape.GetCapsuleProperties();
var center = capsule.Center;
var bakeToShape = BakeCapsuleJob.GetBakeToShape(shape, center, capsule.OrientationEuler);
var scale = bakeToShape.DecomposeScale();
var newRadius = radius / math.cmax(scale.xy);
if (math.abs(capsule.Radius - newRadius) > kMinimumChange)
{
capsule.Radius = newRadius;
}
height /= scale.z;
if (math.abs(math.length(capsule.Height - height)) > kMinimumChange)
{
capsule.Height = height;
}
shape.SetCapsule(capsule);
}
internal static BoxGeometry GetBakedBoxProperties(this PhysicsShapeAuthoring shape)
{
var box = shape.GetBoxProperties(out var orientation);
return(box.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), orientation));
}
internal static SphereGeometry GetBakedSphereProperties(this PhysicsShapeAuthoring shape, out EulerAngles orientation)
{
var sphere = shape.GetSphereProperties(out orientation);
return(sphere.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), ref orientation));
}
internal static GameObject GetPrimaryBody(this PhysicsShapeAuthoring shape) => GetPrimaryBody(shape.gameObject);
internal static CylinderGeometry GetBakedCylinderProperties(this PhysicsShapeAuthoring shape)
{
var cylinder = shape.GetCylinderProperties(out var orientation);
return(cylinder.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), orientation));
}
internal static CapsuleGeometryAuthoring GetBakedCapsuleProperties(this PhysicsShapeAuthoring shape)
{
var capsule = shape.GetCapsuleProperties();
return(capsule.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix()));
}
