public static unsafe BlobAssetReference <Collider> Create(
NativeArray <float> heights, int2 size, float3 scale, CollisionMethod collisionMethod, CollisionFilter filter, Material material
)
{
if (math.any(size < 2))
{
throw new ArgumentOutOfRangeException("Tried to create TerrainCollider with size < 2");
}
if (math.any(scale <= float3.zero))
{
throw new ArgumentOutOfRangeException("Tried to create TerrainCollider with scale <= 0");
}
// Allocate memory for the collider
int totalSize = sizeof(TerrainCollider) + Terrain.CalculateDataSize(size);
var collider = (TerrainCollider *)UnsafeUtility.Malloc(totalSize, 16, Allocator.Temp);
// BlobAssetReference<T> does memcpy, so allocate memory first and then assign properly aligned values to result
var blob = BlobAssetReference <Collider> .Create(collider, totalSize);
UnsafeUtility.Free(collider, Allocator.Temp);
collider = (TerrainCollider *)blob.GetUnsafePtr();
UnsafeUtility.MemClear(collider, totalSize);
// Initialize the collider
collider->m_Header.Type = ColliderType.Terrain;
collider->m_Header.CollisionType = (collisionMethod == CollisionMethod.Triangles) ? CollisionType.Composite : CollisionType.Terrain;
collider->m_Header.Version = 1;
collider->m_Header.Magic = 0xff;
collider->m_Header.Filter = filter;
collider->Material = material;
collider->MemorySize = totalSize;
collider->Terrain.Init(size, scale, (float *)heights.GetUnsafePtr());
return(blob);
}
public static unsafe BlobAssetReference <Collider> Create(
NativeArray <sfloat> heights, int2 size, float3 scale, CollisionMethod collisionMethod, CollisionFilter filter, Material material
)
{
SafetyChecks.CheckInRangeAndThrow(size.x, new int2(2, int.MaxValue), nameof(size));
SafetyChecks.CheckInRangeAndThrow(size.y, new int2(2, int.MaxValue), nameof(size));
SafetyChecks.CheckFiniteAndPositiveAndThrow(scale, nameof(scale));
// Allocate memory for the collider
int totalSize = sizeof(TerrainCollider) + Terrain.CalculateDataSize(size);
var collider = (TerrainCollider *)UnsafeUtility.Malloc(totalSize, 16, Allocator.Temp);
UnsafeUtility.MemClear(collider, totalSize);
// Initialize the collider
collider->m_Header.Type = ColliderType.Terrain;
collider->m_Header.CollisionType = (collisionMethod == CollisionMethod.Triangles) ? CollisionType.Composite : CollisionType.Terrain;
collider->m_Header.Version = 1;
collider->m_Header.Magic = 0xff;
collider->m_Header.Filter = filter;
collider->Material = material;
collider->MemorySize = totalSize;
collider->Terrain.Init(size, scale, (sfloat *)heights.GetUnsafePtr());
var blob = BlobAssetReference <Collider> .Create(collider, totalSize);
UnsafeUtility.Free(collider, Allocator.Temp);
return(blob);
}
public static unsafe BlobAssetReference <Collider> Create(
int2 size, float3 scale, float *heights, CollisionMethod collisionMethod,
CollisionFilter?filter = null, Material?material = null
)
{
var heightsArray = new NativeArray <float>(size.x * size.y, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
UnsafeUtility.MemCpy(heightsArray.GetUnsafePtr(), heights, heightsArray.Length * UnsafeUtility.SizeOf <float>());
return(Create(heightsArray, size, scale, collisionMethod, filter ?? CollisionFilter.Default, material ?? Material.Default));
}
protected bool CanOpenFile(AccessMode requestedMode, CollisionMethod requestedCollision, bool doesAlreadyExist)
{
if (requestedCollision == CollisionMethod.FailIfExists && doesAlreadyExist)
{
return(false);
}
if (requestedMode == AccessMode.ReadOnly && !doesAlreadyExist)
{
return(false);
}
return(true);
}
public static BlobAssetReference <Collider> Create(
NativeArray <float> heights, int2 size, float3 scale, CollisionMethod collisionMethod, CollisionFilter filter
) =>
Create(heights, size, scale, collisionMethod, filter, Material.Default);
private void SetCollisionMethod(CollisionMethod _collisionMethod)
{
collisionMethod = _collisionMethod;
}
public abstract Task <Stream> OpenFileAsync(string path, AccessMode accessMode = AccessMode.ReadOnly, CollisionMethod collisionMethod = CollisionMethod.NormalOpen);
private DeviceMessage CreateCollisionDeviceMessage(CollisionMethod method, Int32 xThreshold, Int32 xSpeedThreshold, Int32 yThreshold, Int32 ySpeedThreshold, Int32 quietTime)
{
Byte[] numArray = new Byte[] { (Byte)method, (Byte)xThreshold, (Byte)xSpeedThreshold, (Byte)yThreshold, (Byte)ySpeedThreshold, (Byte)quietTime };
return(new DeviceMessage(2, 18, numArray, DeviceMessage.SopParameters.ResetTimeout));
}
public void SetCollisionStyle(CollisionMethod style)
{
collisionMethod = style;
}
/// <summary>
/// Sphero contains a powerful analysis function to filter accelerometer data in order to detect collisions.
/// Because this is a great example of a high-level concept that humans excel and – but robots do not – a number of parameters control the behavior.
/// When a collision is detected an asynchronous message is generated to the client .
/// </summary>
/// <param name="method">Detection method type to use</param>
/// <param name="xThreshold">Threshold for the X (left/right) axe of Sphero. A value of 00h disables the contribution of that axis</param>
/// <param name="xSpeed">Speed value for the X axe. This setting is ranged by the speed, then added to Xt to generate the final threshold value.</param>
/// <param name="yThreshold">Threshold for the Y (front/back) axe of Sphero. A value of 00h disables the contribution of that axis</param>
/// <param name="ySpeed">Speed value for the YX axe. This setting is ranged by the speed, then added to Yt to generate the final threshold value.</param>
/// <param name="dead">Post-collision dead time to prevent retriggering; specified in 10ms increments.</param>
public void ConfigureCollisionDetection(CollisionMethod method, byte xThreshold, byte xSpeed, byte yThreshold, byte ySpeed, byte dead)
{
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.CONFIGURE_COLLISION_DETECTION, new byte[] { (byte)method, xThreshold, xSpeed, yThreshold, ySpeed, dead });
_connection.SendCommand(command);
}
public void SetCollisionStyle(CollisionMethod style)
{
collisionMethod = style;
}
/// <summary>
/// Sphero contains a powerful analysis function to filter accelerometer data in order to detect collisions.
/// Because this is a great example of a high-level concept that humans excel and – but robots do not – a number of parameters control the behavior.
/// When a collision is detected an asynchronous message is generated to the client .
/// </summary>
/// <param name="method">Detection method type to use</param>
/// <param name="xThreshold">Threshold for the X (left/right) axe of Sphero. A value of 00h disables the contribution of that axis</param>
/// <param name="xSpeed">Speed value for the X axe. This setting is ranged by the speed, then added to Xt to generate the final threshold value.</param>
/// <param name="yThreshold">Threshold for the Y (front/back) axe of Sphero. A value of 00h disables the contribution of that axis</param>
/// <param name="ySpeed">Speed value for the YX axe. This setting is ranged by the speed, then added to Yt to generate the final threshold value.</param>
/// <param name="dead">Post-collision dead time to prevent retriggering; specified in 10ms increments.</param>
public void ConfigureCollisionDetection(CollisionMethod method, byte xThreshold, byte xSpeed, byte yThreshold, byte ySpeed, byte dead)
{
CommandPacket command = new CommandPacket(0xFE, DeviceIDs.SPHERO, CommandIDs.Sphero.CONFIGURE_COLLISION_DETECTION, new byte[] { (byte)method, xThreshold, xSpeed, yThreshold, ySpeed, dead });
_connection.SendCommand(command);
}
private DeviceMessage CreateCollisionDeviceMessage(CollisionMethod method, Int32 xThreshold, Int32 xSpeedThreshold, Int32 yThreshold, Int32 ySpeedThreshold, Int32 quietTime)
{
Byte[] numArray = new Byte[] { (Byte)method, (Byte)xThreshold, (Byte)xSpeedThreshold, (Byte)yThreshold, (Byte)ySpeedThreshold, (Byte)quietTime };
return new DeviceMessage(2, 18, numArray, DeviceMessage.SopParameters.ResetTimeout);
}
public override async Task <Stream> OpenFileAsync(string path, AccessMode accessMode = AccessMode.ReadOnly, CollisionMethod collisionMethod = CollisionMethod.NormalOpen)
{
if (path == null)
{
throw new ArgumentNullException(nameof(path));
}
await AwaitHelper.EnsureNotMainThread();
var fi = new FileInfo(path);
// set some default enums
FileMode mode = FileMode.Open;
FileAccess access = FileAccess.Read;
FileShare sharing = FileShare.Read;
FileOptions opts = FileOptions.RandomAccess | FileOptions.Asynchronous;
// parse the supplied options
switch (accessMode)
{
case AccessMode.ReadWrite:
mode = FileMode.OpenOrCreate;
access = FileAccess.ReadWrite;
break;
case AccessMode.ReadWriteTemporary:
mode = FileMode.OpenOrCreate;
access = FileAccess.ReadWrite;
opts |= FileOptions.DeleteOnClose;
break;
case AccessMode.ReadWriteExclusive:
mode = FileMode.OpenOrCreate;
access = FileAccess.ReadWrite;
sharing = FileShare.None;
break;
}
// check collision options
if (fi.Exists)
{
if (collisionMethod == CollisionMethod.FailIfExists)
{
return(null);
}
else if (collisionMethod == CollisionMethod.RenameIfExists)
{
// append numbers until we find a unique one
var fPath = fi.DirectoryName;
var fName = Path.GetFileNameWithoutExtension(fi.Name);
for (int num = 2; ; num++)
{
var name = Path.Combine(fPath, string.Format("{0}-{1}.{2}", fName, num, fi.Extension));
if (!File.Exists(name))
{
path = name; // use this new name
break;
}
}
}
else if (collisionMethod == CollisionMethod.OverwriteIfExists && accessMode != AccessMode.ReadOnly)
{
mode = FileMode.Create;
}
}
// try creating the file stream
try
{
return(new FileStream(path, mode, access, sharing, 16 * 1024, opts));
}
catch (ArgumentException)
{
// bad file name
}
catch (NotSupportedException)
{
// something weird, like lpt1:
}
catch (FileNotFoundException)
{
// file doesn't exist for read
}
catch (IOException)
{
// stream broke
}
catch (UnauthorizedAccessException)
{
// not permitted
}
return(null);
}
