public static bool NativeHullHullContact(ref NativeManifold result, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
FaceQueryResult faceQuery1;
HullCollision.QueryFaceDistance(out faceQuery1, transform1, hull1, transform2, hull2);
if (faceQuery1.Distance > 0)
{
return(false);
}
FaceQueryResult faceQuery2;
HullCollision.QueryFaceDistance(out faceQuery2, transform2, hull2, transform1, hull1);
if (faceQuery2.Distance > 0)
{
return(false);
}
HullCollision.QueryEdgeDistance(out EdgeQueryResult edgeQuery, transform1, hull1, transform2, hull2);
if (edgeQuery.Distance > 0)
{
return(false);
}
float kRelEdgeTolerance = 0.90f; //90%
float kRelFaceTolerance = 0.95f; //95%
float kAbsTolerance = 0.5f * 0.005f;
// Favor face contacts over edge contacts.
float maxFaceSeparation = math.max(faceQuery1.Distance, faceQuery2.Distance);
if (edgeQuery.Distance > kRelEdgeTolerance * maxFaceSeparation + kAbsTolerance)
{
CreateEdgeContact(ref result, edgeQuery, transform1, hull1, transform2, hull2);
}
else
{
// Favor first hull face to avoid face flip-flops.
if (faceQuery2.Distance > kRelFaceTolerance * faceQuery1.Distance + kAbsTolerance)
{
// 2 = reference, 1 = incident.
CreateFaceContact(ref result, faceQuery2, transform2, hull2, transform1, hull1, true);
}
else
{
// 1 = reference, 2 = incident.
CreateFaceContact(ref result, faceQuery1, transform1, hull1, transform2, hull2, false);
}
}
return(true);
}
public bool Execute(NativeArray <BatchCollisionInput> hulls, NativeList <BatchCollisionResult> results)
{
var isCollision = false;
for (int i = 0; i < hulls.Length; ++i)
{
for (int j = i + 1; j < hulls.Length; j++)
{
var a = hulls[i];
var b = hulls[j];
if (HullCollision.IsColliding(a.Transform, a.Hull, b.Transform, b.Hull))
{
isCollision = true;
results.Add(new BatchCollisionResult
{
A = a,
B = b,
});
}
}
}
return(isCollision);
}
public float3 Execute(RigidTransform t1, NativeHull hull1, float3 point)
{
return(HullCollision.ClosestPoint(t1, hull1, point));
}
public bool Execute(RigidTransform t1, NativeHull hull1, float3 point)
{
return(HullCollision.Contains(t1, hull1, point));
}
public bool Execute(RigidTransform t1, NativeHull hull1, RigidTransform t2, NativeHull hull2)
{
return(HullCollision.IsColliding(t1, hull1, t2, hull2));
}