public unsafe bool DistanceLeaf <T>(ColliderDistanceInput 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 ColliderDistanceInput
{
Collider = input.Collider,
Transform = new RigidTransform(
math.mul(math.inverse(body.WorldFromBody.rot), input.Transform.rot),
Mul(bodyFromWorld, input.Transform.pos)),
MaxDistance = input.MaxDistance,
QueryContext = new QueryContext
{
RigidBodyIndex = rigidBodyIndex,
ColliderKey = ColliderKey.Empty,
NumColliderKeyBits = 0,
WorldFromLocalTransform = worldFromBody,
Entity = body.Entity,
IsInitialized = true
}
};
return(body.CalculateDistance(inputLs, 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,
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 DistanceLeaf <T>(ColliderDistanceInput 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 ColliderDistanceInput
{
Collider = input.Collider,
Transform = new RigidTransform(
math.mul(math.inverse(body.WorldFromBody.rot), input.Transform.rot),
Mul(bodyFromWorld, input.Transform.pos)),
MaxDistance = input.MaxDistance
};
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 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 unsafe bool DistanceLeaf <T>(ColliderDistanceInput 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));
}
