public void TestConvexColliderCalculateAabbLocal()
{
var points = new NativeArray <float3>(6, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
float convexRadius = 1.25f;
Aabb expectedAabb = Aabb.CreateFromPoints(new float3x4(points[0], points[1], points[2], points[3]));
expectedAabb.Include(points[4]);
expectedAabb.Include(points[5]);
// Currently the convex hull is not shrunk, so we have to expand by the convex radius
expectedAabb.Expand(convexRadius);
var collider = ConvexCollider.Create(points, convexRadius);
points.Dispose();
Aabb actualAabb = collider.Value.CalculateAabb();
TestUtils.AreEqual(expectedAabb.Min, actualAabb.Min, 1e-3f);
TestUtils.AreEqual(expectedAabb.Max, actualAabb.Max, 1e-3f);
}
public void TestConvexColliderMassProperties()
{
var points = new NativeArray <float3>(8, Allocator.Temp)
{
[0] = new float3(-1.56f, 8.89f, -10.76f),
[1] = new float3(-4.74f, 80.11f, 10.56f),
[2] = new float3(-100.60f, -4.93f, -10.76f),
[3] = new float3(1.44f, 3.56f, 73.4f),
[4] = new float3(17.66f, 18.43f, 0.0f),
[5] = new float3(-1.32f, 9.99f, 80.4f),
[6] = new float3(-17.45f, 3.22f, -3.22f),
[7] = new float3(0.0f, 0.0f, 0.03f)
};
var collider = ConvexCollider.Create(points, convexRadius: 0.15f);
points.Dispose();
float3 expectedInertiaTensor = new float3(434.014862f, 824.963989f, 684.776672f);
float3 inertiaTensor = collider.Value.MassProperties.MassDistribution.InertiaTensor;
// Given the number of FP operations, we do a percentage comparison in this case
Assert.IsTrue(math.abs(expectedInertiaTensor.x - inertiaTensor.x) / expectedInertiaTensor.x < 0.01f);
Assert.IsTrue(math.abs(expectedInertiaTensor.y - inertiaTensor.y) / expectedInertiaTensor.y < 0.01f);
Assert.IsTrue(math.abs(expectedInertiaTensor.z - inertiaTensor.z) / expectedInertiaTensor.z < 0.01f);
}
protected override BlobAssetReference <Collider> ProduceColliderBlob(LegacyMesh shape)
{
if (shape.sharedMesh == null)
{
throw new InvalidOperationException(
$"No {nameof(LegacyMesh.sharedMesh)} assigned to {typeof(MeshCollider)} on {shape.name}."
);
}
var filter = ProduceCollisionFilter(shape);
var material = ProduceMaterial(shape);
using (var pointCloud = new NativeList <float3>(shape.sharedMesh.vertexCount, Allocator.Temp))
{
// transform points into world space and back into shape space
shape.sharedMesh.GetVertices(m_Vertices);
var shapeFromWorld = math.inverse(
new float4x4(new RigidTransform(shape.transform.rotation, shape.transform.position))
);
for (int i = 0, count = m_Vertices.Count; i < count; ++i)
{
var worldPt = math.mul(shape.transform.localToWorldMatrix, new float4(m_Vertices[i], 1f));
pointCloud.Add(math.mul(shapeFromWorld, worldPt).xyz);
}
return(shape.convex
? ConvexCollider.Create(pointCloud, PhysicsShape.k_DefaultConvexRadius, new float3(1f), filter, material)
: MeshCollider.Create(pointCloud.ToArray(), shape.sharedMesh.triangles, filter, material));
}
}
public void Execute(int index)
{
var inputParameters = InputParameters[index];
var points = new NativeArray <float3>(
inputParameters.PointCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory
);
UnsafeUtility.MemCpy(
points.GetUnsafePtr(),
(float3 *)AllPoints.GetUnsafeReadOnlyPtr() + inputParameters.PointsStart,
UnsafeUtility.SizeOf <float3>() * inputParameters.PointCount
);
Output[index] = new KeyValuePair <Entity, LeafShapeData>(
inputParameters.BodyEntity,
new LeafShapeData
{
LeafEntity = inputParameters.LeafEntity,
ColliderBlobInstance = new CompoundCollider.ColliderBlobInstance
{
CompoundFromChild = inputParameters.CompoundFromChild,
Collider = ConvexCollider.Create(
points, inputParameters.GenerationParameters, inputParameters.Filter, inputParameters.Material
)
}
}
);
}
public unsafe void TestConvexColliderCalculateAabbLocal([Values(0, 0.01f, 1.25f)] float maxShrinkMovement)
{
var points = new NativeArray <float3>(6, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
Aabb expectedAabb = Aabb.CreateFromPoints(new float3x4(points[0], points[1], points[2], points[3]));
expectedAabb.Include(points[4]);
expectedAabb.Include(points[5]);
var collider = ConvexCollider.Create(
points, new ConvexHullGenerationParameters {
BevelRadius = maxShrinkMovement
}, CollisionFilter.Default
);
points.Dispose();
Aabb actualAabb = collider.Value.CalculateAabb();
float convexRadius = ((ConvexCollider *)collider.GetUnsafePtr())->ConvexHull.ConvexRadius;
float maxError = 1e-3f + maxShrinkMovement - convexRadius;
TestUtils.AreEqual(expectedAabb.Min, actualAabb.Min, maxError);
TestUtils.AreEqual(expectedAabb.Max, actualAabb.Max, maxError);
}
public void Execute()
{
var points = new NativeArray <float3>(1024, Allocator.Temp);
var random = new Random(1234);
for (var i = 0; i < points.Length; ++i)
{
points[i] = random.NextFloat3(new float3(-1f), new float3(1f));
}
ConvexCollider.Create(points, ConvexHullGenerationParameters.Default).Release();
}
public void TestConvexColliderCreate()
{
var points = new NativeArray <float3>(k_TestPoints, Allocator.Temp);
var collider = ConvexCollider.Create(
points, new ConvexHullGenerationParameters {
BevelRadius = 0.15f
}, CollisionFilter.Default
);
Assert.AreEqual(ColliderType.Convex, collider.Value.Type);
Assert.AreEqual(CollisionType.Convex, collider.Value.CollisionType);
}
public void Execute(int index)
{
var inputParameters = InputValues[index];
Output[index] = new KeyValuePair <Hash128, BlobAssetReference <Collider> >(
InputKeys[index],
ConvexCollider.Create(
AllPoints.GetSubArray(inputParameters.PointsStart, inputParameters.PointCount),
inputParameters.GenerationParameters, inputParameters.Filter, inputParameters.Material
)
);
}
public void ConvexCollider_Create_WhenGenerationParametersBevelRadiusInvalid_Throws(
[Values(float.PositiveInfinity, float.NegativeInfinity, float.NaN, -1f)] float errantValue
)
{
var points = new NativeArray <float3>(k_TestPoints, Allocator.Temp);
var generationParameters = ConvexHullGenerationParameters.Default;
generationParameters.BevelRadius = errantValue;
var ex = Assert.Throws <ArgumentException>(() => ConvexCollider.Create(points, generationParameters));
Assert.That(ex.ParamName, Is.EqualTo("generationParameters"));
}
public void ConvexCollider_Create_WhenPointsInvalid_Throws(
[Values(float.PositiveInfinity, float.NegativeInfinity, float.NaN)] float errantValue
)
{
var points = new NativeArray <float3>(k_TestPoints, Allocator.Temp)
{
[2] = new float3(errantValue)
};
var ex = Assert.Throws <ArgumentException>(() => ConvexCollider.Create(points, ConvexHullGenerationParameters.Default));
Assert.That(ex.ParamName, Is.EqualTo("points"));
}
private static PhysicsCollider CreateMeshCollider(Resource.Mesh mesh, float3 scale, CollisionFilter filter, PhysicsMaterial physicsMaterial)
{
UnityEngine.Vector3[] v3Verts = Resource.GetMesh(mesh).vertices;
float3[] float3Verts = new float3[v3Verts.Length];
for (int i = 0; i < v3Verts.Length; i++)
{
float3Verts[i] = v3Verts[i] * scale;
}
NativeArray <float3> nativeVerts = new NativeArray <float3>(float3Verts, Allocator.Temp);
return(new PhysicsCollider {
Value = ConvexCollider.Create(nativeVerts, ConvexHullGenerationParameters.Default, filter, physicsMaterial)
});
}
private void SelectMultipleUnits()
{
_isDragging = false;
var topLeft = math.min(_mouseStartPos, Input.mousePosition);
var botRight = math.max(_mouseStartPos, Input.mousePosition);
var rect = Rect.MinMaxRect(topLeft.x, topLeft.y, botRight.x, botRight.y);
var cornerRays = new[]
{
_mainCamera.ScreenPointToRay(rect.min),
_mainCamera.ScreenPointToRay(rect.max),
_mainCamera.ScreenPointToRay(new Vector2(rect.xMin, rect.yMax)),
_mainCamera.ScreenPointToRay(new Vector2(rect.xMax, rect.yMin))
};
var vertices = new NativeArray <float3>(5, Allocator.Temp);
for (var i = 0; i < cornerRays.Length; i++)
{
vertices[i] = cornerRays[i].GetPoint(50f);
}
vertices[4] = _mainCamera.transform.position;
var collisionFilter = new CollisionFilter
{
BelongsTo = (uint)CollisionLayers.Selection,
CollidesWith = (uint)CollisionLayers.Units
};
var physicsMaterial = Unity.Physics.Material.Default;
physicsMaterial.CollisionResponse = CollisionResponsePolicy.RaiseTriggerEvents;
var selectionCollider = ConvexCollider.Create(vertices, ConvexHullGenerationParameters.Default,
collisionFilter, physicsMaterial);
var newSelectionEntity = EntityManager.CreateEntity(_selectionArchetype);
EntityManager.SetComponentData(newSelectionEntity, new PhysicsCollider {
Value = selectionCollider
});
}
public void TestConvexColliderCreate()
{
var points = new NativeArray <float3>(8, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
var collider = ConvexCollider.Create(points, convexRadius: 0.15f);
points.Dispose();
Assert.AreEqual(ColliderType.Convex, collider.Value.Type);
Assert.AreEqual(CollisionType.Convex, collider.Value.CollisionType);
}
public void Execute(int index)
{
var inputParameters = InputValues[index];
var points = new NativeArray <float3>(
inputParameters.PointCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory
);
UnsafeUtility.MemCpy(
points.GetUnsafePtr(),
(float3 *)AllPoints.GetUnsafeReadOnlyPtr() + inputParameters.PointsStart,
UnsafeUtility.SizeOf <float3>() * inputParameters.PointCount
);
Output[index] = new KeyValuePair <Hash128, BlobAssetReference <Collider> >(
InputKeys[index],
ConvexCollider.Create(points, inputParameters.GenerationParameters, inputParameters.Filter, inputParameters.Material)
);
}
public unsafe void TestConvexColliderCalculateAabbTransformed([Values(0, 0.01f, 1.25f)] float maxShrinkMovement)
{
var points = new NativeArray <float3>(6, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
float3 translation = new float3(43.56f, -87.32f, -0.02f);
quaternion rotation = quaternion.AxisAngle(math.normalize(new float3(8.45f, -2.34f, 0.82f)), 43.21f);
float3[] transformedPoints = new float3[points.Length];
for (int i = 0; i < points.Length; ++i)
{
transformedPoints[i] = translation + math.mul(rotation, points[i]);
}
Aabb expectedAabb = Aabb.CreateFromPoints(new float3x4(transformedPoints[0], transformedPoints[1], transformedPoints[2], transformedPoints[3]));
expectedAabb.Include(transformedPoints[4]);
expectedAabb.Include(transformedPoints[5]);
var collider = ConvexCollider.Create(
points, new ConvexHullGenerationParameters {
BevelRadius = maxShrinkMovement
}, CollisionFilter.Default
);
points.Dispose();
Aabb actualAabb = collider.Value.CalculateAabb(new RigidTransform(rotation, translation));
float convexRadius = ((ConvexCollider *)collider.GetUnsafePtr())->ConvexHull.ConvexRadius;
float maxError = 1e-3f + maxShrinkMovement - convexRadius;
TestUtils.AreEqual(expectedAabb.Min, actualAabb.Min, maxError);
TestUtils.AreEqual(expectedAabb.Max, actualAabb.Max, maxError);
}
public void TestConvexColliderCalculateAabbTransformed()
{
var points = new NativeArray <float3>(6, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
float convexRadius = 1.25f;
float3 translation = new float3(43.56f, -87.32f, -0.02f);
quaternion rotation = quaternion.AxisAngle(math.normalize(new float3(8.45f, -2.34f, 0.82f)), 43.21f);
float3[] transformedPoints = new float3[points.Length];
for (int i = 0; i < points.Length; ++i)
{
transformedPoints[i] = translation + math.mul(rotation, points[i]);
}
Aabb expectedAabb = Aabb.CreateFromPoints(new float3x4(transformedPoints[0], transformedPoints[1], transformedPoints[2], transformedPoints[3]));
expectedAabb.Include(transformedPoints[4]);
expectedAabb.Include(transformedPoints[5]);
// Currently the convex hull is not shrunk, so we have to expand by the convex radius
expectedAabb.Expand(convexRadius);
var collider = ConvexCollider.Create(points, convexRadius);
points.Dispose();
Aabb actualAabb = collider.Value.CalculateAabb(new RigidTransform(rotation, translation));
TestUtils.AreEqual(expectedAabb.Min, actualAabb.Min, 1e-3f);
TestUtils.AreEqual(expectedAabb.Max, actualAabb.Max, 1e-3f);
}
public void TestConvexColliderCreate()
{
var points = new NativeArray <float3>(8, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(100.34f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
var collider = ConvexCollider.Create(
points, new ConvexHullGenerationParameters {
BevelRadius = 0.15f
}, CollisionFilter.Default
);
points.Dispose();
Assert.AreEqual(ColliderType.Convex, collider.Value.Type);
Assert.AreEqual(CollisionType.Convex, collider.Value.CollisionType);
}
public static unsafe BlobAssetReference <Collider> GenerateRandomConvex(ref Random rnd)
{
ColliderType colliderType = (ColliderType)rnd.NextInt((int)ColliderType.Box);
float radius = (rnd.NextInt(4) > 0) ? rnd.NextFloat(0.5f) : 0.0f;
switch (colliderType)
{
case ColliderType.Convex:
{
int numPoints = rnd.NextInt(1, 16);
if (numPoints == 3) // TODO - hull builder doesn't build faces for flat shapes, work around it for now to run the test
{
numPoints++;
}
var points = new NativeArray <float3>(numPoints, Allocator.Temp);
for (int i = 0; i < numPoints; i++)
{
points[i] = rnd.NextFloat3(-1.0f, 1.0f);
}
var collider = ConvexCollider.Create(points, radius);
points.Dispose();
return(collider);
}
case ColliderType.Sphere:
{
float3 center = (rnd.NextInt(4) > 0) ? float3.zero : rnd.NextFloat3(-0.5f, 0.5f);
return(SphereCollider.Create(center, rnd.NextFloat(0.01f, 0.5f)));
}
case ColliderType.Capsule:
{
float3 point0 = rnd.NextFloat3(0.0f, 1.0f);
float3 point1 = (rnd.NextInt(4) > 0) ? -point0 : rnd.NextFloat3(-1.0f, 1.0f);
return(CapsuleCollider.Create(point0, point1, rnd.NextFloat(0.01f, 0.5f)));
}
case ColliderType.Triangle:
{
return(PolygonCollider.CreateTriangle(rnd.NextFloat3(-1.0f, 1.0f), rnd.NextFloat3(-1.0f, 1.0f), rnd.NextFloat3(-1.0f, 1.0f)));
}
case ColliderType.Quad:
{
// Pick 3 totally random points, then choose a fourth that makes a flat and convex quad
float3 point0 = rnd.NextFloat3(-1.0f, 1.0f);
float3 point1 = rnd.NextFloat3(-1.0f, 1.0f);
float3 point3 = rnd.NextFloat3(-1.0f, 1.0f);
float t0 = rnd.NextFloat(0.0f, 1.0f);
float t1 = rnd.NextFloat(0.0f, 1.0f);
float3 e = point1 + point1 - point0;
float3 a = math.lerp(point1, e, t0);
float3 b = math.lerp(point3, point3 + point3 - point0, t0);
float3 point2 = math.lerp(a, b, t1);
return(PolygonCollider.CreateQuad(point0, point1, point2, point3));
}
case ColliderType.Box:
{
float3 center = (rnd.NextInt(4) > 0) ? float3.zero : rnd.NextFloat3(-0.5f, 0.5f);
quaternion orientation = (rnd.NextInt(4) > 0) ? quaternion.identity : rnd.NextQuaternionRotation();
return(BoxCollider.Create(center, orientation, rnd.NextFloat3(0.01f, 1.0f), radius));
}
default: throw new System.NotImplementedException();
}
}
protected override BlobAssetReference <Collider> ProduceColliderBlob(PhysicsShape shape)
{
var material = ProduceMaterial(shape);
var collisionFilter = ProduceCollisionFilter(shape);
var blob = new BlobAssetReference <Collider>();
shape.GetBakeTransformation(out var linearScalar, out var radiusScalar);
switch (shape.ShapeType)
{
case ShapeType.Box:
shape.GetBoxProperties(out var center, out var size, out quaternion orientation);
blob = BoxCollider.Create(
center * linearScalar,
orientation,
math.abs(size * linearScalar),
shape.ConvexRadius * radiusScalar,
collisionFilter,
material);
break;
case ShapeType.Capsule:
shape.GetCapsuleProperties(out var v0, out var v1, out var radius);
blob = CapsuleCollider.Create(
v0 * linearScalar,
v1 * linearScalar,
radius * radiusScalar,
collisionFilter,
material);
break;
case ShapeType.Sphere:
shape.GetSphereProperties(out center, out radius, out orientation);
blob = SphereCollider.Create(
center * linearScalar,
radius * radiusScalar,
collisionFilter,
material);
break;
case ShapeType.Cylinder:
shape.GetCylinderProperties(out center, out var height, out radius, out orientation);
var s = math.abs(math.mul(math.inverse(orientation), linearScalar));
blob = CylinderCollider.Create(
center * linearScalar,
height * s.z,
radius * math.cmax(s.xy),
orientation,
shape.ConvexRadius * radiusScalar,
collisionFilter,
material);
break;
case ShapeType.Plane:
shape.GetPlaneProperties(out v0, out v1, out var v2, out var v3);
blob = PolygonCollider.CreateQuad(
v0 * linearScalar,
v1 * linearScalar,
v2 * linearScalar,
v3 * linearScalar,
collisionFilter,
material);
break;
case ShapeType.ConvexHull:
var pointCloud = new NativeList <float3>(65535, Allocator.Temp);
shape.GetConvexHullProperties(pointCloud);
if (pointCloud.Length == 0)
{
pointCloud.Dispose();
throw new InvalidOperationException(
$"No vertices associated with {shape.name}. Add a {typeof(MeshFilter)} component or assign {nameof(PhysicsShape.CustomMesh)}."
);
}
blob = ConvexCollider.Create(
pointCloud,
shape.ConvexRadius * radiusScalar,
linearScalar,
collisionFilter,
material);
pointCloud.Dispose();
break;
case ShapeType.Mesh:
// TODO: no convex radius?
var mesh = shape.GetMesh();
if (mesh == null)
{
throw new InvalidOperationException(
$"No mesh associated with {shape.name}. Add a {typeof(MeshFilter)} component or assign {nameof(PhysicsShape.CustomMesh)}."
);
}
else
{
blob = MeshCollider.Create(mesh.GetScaledVertices(linearScalar), mesh.triangles, collisionFilter, material);
}
break;
default:
throw new UnimplementedShapeException(shape.ShapeType);
}
return(blob);
}
private BlobAssetReference <Collider> CreateCollider(UnityEngine.Mesh mesh, ColliderType type)
{
switch (type)
{
case ColliderType.Sphere:
{
Bounds bounds = mesh.bounds;
return(SphereCollider.Create(bounds.center, math.cmax(bounds.extents)));
}
case ColliderType.Triangle:
{
return(PolygonCollider.CreateTriangle(mesh.vertices[0], mesh.vertices[1], mesh.vertices[2]));
}
case ColliderType.Quad:
{
// We assume the first 2 triangles of the mesh are a quad with a shared edge
// Work out a correct ordering for the triangle
int[] orderedIndices = new int[4];
// Find the vertex in first triangle that is not on the shared edge
for (int i = 0; i < 3; i++)
{
if ((mesh.triangles[i] != mesh.triangles[3]) &&
(mesh.triangles[i] != mesh.triangles[4]) &&
(mesh.triangles[i] != mesh.triangles[5]))
{
// Push in order or prev, unique, next
orderedIndices[0] = mesh.triangles[(i - 1 + 3) % 3];
orderedIndices[1] = mesh.triangles[i];
orderedIndices[2] = mesh.triangles[(i + 1) % 3];
break;
}
}
// Find the vertex in second triangle that is not on a shared edge
for (int i = 3; i < 6; i++)
{
if ((mesh.triangles[i] != orderedIndices[0]) &&
(mesh.triangles[i] != orderedIndices[1]) &&
(mesh.triangles[i] != orderedIndices[2]))
{
orderedIndices[3] = mesh.triangles[i];
break;
}
}
return(PolygonCollider.CreateQuad(
mesh.vertices[orderedIndices[0]],
mesh.vertices[orderedIndices[1]],
mesh.vertices[orderedIndices[2]],
mesh.vertices[orderedIndices[3]]));
}
case ColliderType.Box:
{
Bounds bounds = mesh.bounds;
return(BoxCollider.Create(bounds.center, quaternion.identity, 2.0f * bounds.extents, 0.0f));
}
case ColliderType.Capsule:
{
Bounds bounds = mesh.bounds;
float min = math.cmin(bounds.extents);
float max = math.cmax(bounds.extents);
int x = math.select(math.select(2, 1, min == bounds.extents.y), 0, min == bounds.extents.x);
int z = math.select(math.select(2, 1, max == bounds.extents.y), 0, max == bounds.extents.x);
int y = math.select(math.select(2, 1, (1 != x) && (1 != z)), 0, (0 != x) && (0 != z));
float radius = bounds.extents[y];
float3 vertex0 = bounds.center; vertex0[z] = -(max - radius);
float3 vertex1 = bounds.center; vertex1[z] = (max - radius);
return(CapsuleCollider.Create(vertex0, vertex1, radius));
}
case ColliderType.Cylinder:
// TODO: need someone to add
throw new NotImplementedException();
case ColliderType.Convex:
{
NativeArray <float3> points = new NativeArray <float3>(mesh.vertices.Length, Allocator.Temp);
for (int i = 0; i < mesh.vertices.Length; i++)
{
points[i] = mesh.vertices[i];
}
return(ConvexCollider.Create(points, 0.0f));
}
default:
throw new System.NotImplementedException();
}
}
private void CreateRagdoll(Mesh torsoMesh, Mesh renderMesh,
float3 positionOffset, quaternion rotationOffset, float3 initialVelocity,
int ragdollIndex = 1, bool internalCollisions = false, float rangeGain = 1.0f)
{
var entities = new NativeList <Entity>(Allocator.Temp);
var rangeModifier = new float2(math.max(0, math.min(rangeGain, 1)));
// Head
float headRadius = 0.1f;
float3 headPosition = new float3(0, 1.8f, headRadius);
Entity head;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> headCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, 0, 0),
Vertex1 = new float3(0, 0, headRadius / 4),
Radius = headRadius
}, filter);
CreatedColliders.Add(headCollider);
head = CreateDynamicBody(headPosition, quaternion.identity, headCollider, float3.zero, float3.zero, 5.0f);
}
entities.Add(head);
// Torso
float3 torsoSize;
float3 torsoPosition;
Entity torso;
{
//UnityEngine.Mesh torsoMesh = (UnityEngine.Mesh)Resources.Load("torso", typeof(UnityEngine.Mesh));
torsoSize = torsoMesh.bounds.size;
torsoPosition = headPosition - new float3(0, headRadius * 3.0f / 4.0f + torsoSize.y, 0);
CollisionFilter filter = internalCollisions ? layerFilter(layer.Torso, layer.Thigh | layer.Head | layer.UpperArm | layer.Pelvis) : groupFilter(-ragdollIndex);
NativeArray <float3> points = new NativeArray <float3>(torsoMesh.vertices.Length, Allocator.TempJob);
for (int i = 0; i < torsoMesh.vertices.Length; i++)
{
points[i] = torsoMesh.vertices[i];
}
BlobAssetReference <Collider> collider = ConvexCollider.Create(
points, ConvexHullGenerationParameters.Default, CollisionFilter.Default
);
CreatedColliders.Add(collider);
points.Dispose();
collider.Value.Filter = filter;
torso = CreateDynamicBody(torsoPosition, quaternion.identity, collider, float3.zero, float3.zero, 20.0f);
}
entities.Add(torso);
// Neck
{
float3 pivotHead = new float3(0, -headRadius, 0);
float3 pivotTorso = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead));
float3 axisHead = new float3(0, 0, 1);
float3 perpendicular = new float3(1, 0, 0);
FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(45)) * rangeModifier;
FloatRange perpendicularAngle = new FloatRange(math.radians(-30), math.radians(+30)) * rangeModifier;
FloatRange twistAngle = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier;
var axisTorso = math.rotate(math.inverse(GetBodyTransform(torso).rot), math.rotate(GetBodyTransform(head).rot, axisHead));
axisTorso = math.rotate(quaternion.AxisAngle(perpendicular, math.radians(10)), axisTorso);
var headFrame = new BodyFrame {
Axis = axisHead, PerpendicularAxis = perpendicular, Position = pivotHead
};
var torsoFrame = new BodyFrame {
Axis = axisTorso, PerpendicularAxis = perpendicular, Position = pivotTorso
};
PhysicsJoint.CreateRagdoll(headFrame, torsoFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, head, torso);
CreateJoint(ragdoll1, head, torso);
}
// Arms
{
float armLength = 0.25f;
float armRadius = 0.05f;
CollisionFilter armUpperFilter = internalCollisions ? layerFilter(layer.UpperArm, layer.Torso | layer.Forearm) : groupFilter(-ragdollIndex);
CollisionFilter armLowerFilter = internalCollisions ? layerFilter(layer.Forearm, layer.UpperArm | layer.Hand) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> upperArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-armLength / 2, 0, 0),
Vertex1 = new float3(armLength / 2, 0, 0),
Radius = armRadius
}, armUpperFilter);
BlobAssetReference <Collider> foreArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-armLength / 2, 0, 0),
Vertex1 = new float3(armLength / 2, 0, 0),
Radius = armRadius
}, armLowerFilter);
float handLength = 0.025f;
float handRadius = 0.055f;
CollisionFilter handFilter = internalCollisions ? layerFilter(layer.Hand, layer.Forearm) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> handCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-handLength / 2, 0, 0),
Vertex1 = new float3(handLength / 2, 0, 0),
Radius = handRadius
}, handFilter);
CreatedColliders.Add(upperArmCollider);
CreatedColliders.Add(foreArmCollider);
CreatedColliders.Add(handCollider);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 upperArmPosition = torsoPosition + new float3(s * (torsoSize.x + armLength) / 2.0f, 0.9f * torsoSize.y - armRadius, 0.0f);
Entity upperArm = CreateDynamicBody(upperArmPosition, quaternion.identity, upperArmCollider, float3.zero, float3.zero, 10.0f);
float3 foreArmPosition = upperArmPosition + new float3(armLength * s, 0, 0);
Entity foreArm = CreateDynamicBody(foreArmPosition, quaternion.identity, foreArmCollider, float3.zero, float3.zero, 5.0f);
float3 handPosition = foreArmPosition + new float3((armLength + handLength) / 2.0f * s, 0, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 2.0f);
entities.Add(upperArm);
entities.Add(foreArm);
entities.Add(hand);
// shoulder
{
float3 pivotArm = new float3(-s * armLength / 2.0f, 0, 0);
float3 pivotTorso = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm));
float3 axisArm = new float3(-s, 0, 0);
float3 perpendicularArm = new float3(0, 1, 0);
FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(80)) * rangeModifier;
FloatRange perpendicularAngle = new FloatRange(math.radians(-70), math.radians(20)) * rangeModifier;
FloatRange twistAngle = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier;
var axisTorso = math.rotate(math.inverse(GetBodyTransform(torso).rot), math.rotate(GetBodyTransform(upperArm).rot, axisArm));
axisTorso = math.rotate(quaternion.AxisAngle(perpendicularArm, math.radians(-s * 45.0f)), axisTorso);
var armFrame = new BodyFrame {
Axis = axisArm, PerpendicularAxis = perpendicularArm, Position = pivotArm
};
var bodyFrame = new BodyFrame {
Axis = axisTorso, PerpendicularAxis = perpendicularArm, Position = pivotTorso
};
PhysicsJoint.CreateRagdoll(armFrame, bodyFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, upperArm, torso);
CreateJoint(ragdoll1, upperArm, torso);
}
// elbow
{
float3 pivotUpper = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotFore = -pivotUpper;
float3 axis = new float3(0, -s, 0);
float3 perpendicular = new float3(-s, 0, 0);
var lowerArmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
var upperArmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper
};
var hingeRange = new FloatRange(math.radians(0), math.radians(100));
hingeRange = (hingeRange - new float2(hingeRange.Mid)) * rangeModifier + hingeRange.Mid;
PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(lowerArmFrame, upperArmFrame, hingeRange);
CreateJoint(hinge, foreArm, upperArm);
}
// wrist
{
float3 pivotFore = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotHand = new float3(-s * handLength / 2.0f, 0, 0);
float3 axis = new float3(0, 0, -s);
float3 perpendicular = new float3(0, 0, 1);
var handFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand
};
var forearmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
var hingeRange = new FloatRange(math.radians(0), math.radians(135)) * rangeModifier;
PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(handFrame, forearmFrame, hingeRange);
CreateJoint(hinge, hand, foreArm);
}
}
}
// Pelvis
float pelvisRadius = 0.08f;
float pelvisLength = 0.22f;
float3 pelvisPosition = torsoPosition - new float3(0, pelvisRadius * 0.75f, 0.0f);
Entity pelvis;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Pelvis, layer.Torso | layer.Thigh) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> collider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-pelvisLength / 2, 0, 0),
Vertex1 = new float3(pelvisLength / 2, 0, 0),
Radius = pelvisRadius
}, filter);
pelvis = CreateDynamicBody(pelvisPosition, quaternion.identity, collider, float3.zero, float3.zero, 15.0f);
CreatedColliders.Add(collider);
}
entities.Add(pelvis);
// Waist
{
float3 pivotTorso = float3.zero;
float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(torso), pivotTorso));
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(5)) * rangeModifier;
FloatRange perpendicularAngle = new FloatRange(math.radians(-5), math.radians(90)) * rangeModifier;
FloatRange twistAngle = new FloatRange(-math.radians(-5), math.radians(5)) * rangeModifier;
var pelvisFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotPelvis
};
var torsoFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotTorso
};
PhysicsJoint.CreateRagdoll(pelvisFrame, torsoFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, pelvis, torso);
CreateJoint(ragdoll1, pelvis, torso);
}
// Legs
{
float thighLength = 0.32f;
float thighRadius = 0.08f;
CollisionFilter thighFilter = internalCollisions ? layerFilter(layer.Thigh, layer.Pelvis | layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> thighCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, -thighLength / 2, 0),
Vertex1 = new float3(0, thighLength / 2, 0),
Radius = thighRadius
}, thighFilter);
float calfLength = 0.32f;
float calfRadius = 0.06f;
CollisionFilter calfFilter = internalCollisions ? layerFilter(layer.Calf, layer.Thigh | layer.Foot) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> calfCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, -calfLength / 2, 0),
Vertex1 = new float3(0, calfLength / 2, 0),
Radius = calfRadius
}, calfFilter);
float footLength = 0.08f;
float footRadius = 0.06f;
CollisionFilter footFilter = internalCollisions ? layerFilter(layer.Foot, layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0),
Vertex1 = new float3(0, 0, footLength),
Radius = footRadius
}, footFilter);
CreatedColliders.Add(thighCollider);
CreatedColliders.Add(calfCollider);
CreatedColliders.Add(footCollider);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 thighPosition = pelvisPosition + new float3(s * pelvisLength / 2.0f, -thighLength / 2.0f, 0.0f);
Entity thigh = CreateDynamicBody(thighPosition, quaternion.identity, thighCollider, float3.zero, float3.zero, 10.0f);
float3 calfPosition = thighPosition + new float3(0, -(thighLength + calfLength) / 2.0f, 0);
Entity calf = CreateDynamicBody(calfPosition, quaternion.identity, calfCollider, float3.zero, float3.zero, 5.0f);
float3 footPosition = calfPosition + new float3(0, -calfLength / 2.0f, 0);
Entity foot = CreateDynamicBody(footPosition, quaternion.identity, footCollider, float3.zero, float3.zero, 2.0f);
entities.Add(thigh);
entities.Add(calf);
entities.Add(foot);
// hip
{
float3 pivotThigh = new float3(0, thighLength / 2.0f, 0);
float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axisLeg = new float3(0, -1, 0);
float3 perpendicularLeg = new float3(-s, 0, 0);
FloatRange coneAngle = new FloatRange(math.radians(0), math.radians(60)) * rangeModifier;
FloatRange perpendicularAngle = new FloatRange(math.radians(-10), math.radians(40)) * rangeModifier;
FloatRange twistAngle = new FloatRange(-math.radians(5), math.radians(5)) * rangeModifier;
var axisPelvis = math.rotate(math.inverse(GetBodyTransform(pelvis).rot), math.rotate(GetBodyTransform(thigh).rot, axisLeg));
axisPelvis = math.rotate(quaternion.AxisAngle(perpendicularLeg, math.radians(s * 45.0f)), axisPelvis);
var upperLegFrame = new BodyFrame {
Axis = axisLeg, PerpendicularAxis = perpendicularLeg, Position = pivotThigh
};
var pelvisFrame = new BodyFrame {
Axis = axisPelvis, PerpendicularAxis = perpendicularLeg, Position = pivotPelvis
};
PhysicsJoint.CreateRagdoll(upperLegFrame, pelvisFrame, coneAngle.Max, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, thigh, pelvis);
CreateJoint(ragdoll1, thigh, pelvis);
}
// knee
{
float3 pivotThigh = new float3(0, -thighLength / 2.0f, 0);
float3 pivotCalf = math.transform(math.inverse(GetBodyTransform(calf)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var lowerLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf
};
var upperLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotThigh
};
var hingeRange = new FloatRange(math.radians(-90), math.radians(0));
hingeRange = (hingeRange - new float2(hingeRange.Mid)) * rangeModifier + hingeRange.Mid;
PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(lowerLegFrame, upperLegFrame, hingeRange);
CreateJoint(hinge, calf, thigh);
}
// ankle
{
float3 pivotCalf = new float3(0, -calfLength / 2.0f, 0);
float3 pivotFoot = float3.zero;
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var footFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFoot
};
var lowerLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf
};
var hingeRange = new FloatRange(math.radians(-5), math.radians(5)) * rangeModifier;
PhysicsJoint hinge = PhysicsJoint.CreateLimitedHinge(footFrame, lowerLegFrame, hingeRange);
CreateJoint(hinge, foot, calf);
}
}
}
// reposition with offset information
if (entities.Length > 0)
{
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
bool isTorso = (i == 1);
SwapRenderMesh(e, isTorso, torsoMesh, renderMesh);
Translation positionComponent = EntityManager.GetComponentData <Translation>(e);
Rotation rotationComponent = EntityManager.GetComponentData <Rotation>(e);
PhysicsVelocity velocityComponent = EntityManager.GetComponentData <PhysicsVelocity>(e);
float3 position = positionComponent.Value;
quaternion rotation = rotationComponent.Value;
float3 localPosition = position - pelvisPosition;
localPosition = math.rotate(rotationOffset, localPosition);
position = localPosition + pelvisPosition + positionOffset;
rotation = math.mul(rotation, rotationOffset);
positionComponent.Value = position;
rotationComponent.Value = rotation;
velocityComponent.Linear = initialVelocity;
EntityManager.SetComponentData <PhysicsVelocity>(e, velocityComponent);
EntityManager.SetComponentData <Translation>(e, positionComponent);
EntityManager.SetComponentData <Rotation>(e, rotationComponent);
}
}
}
public static unsafe BlobAssetReference <Collider> GenerateRandomConvex(ref Random rnd)
{
ColliderType colliderType = (ColliderType)rnd.NextInt((int)ColliderType.Cylinder + 1);
float convexRadius = (rnd.NextInt(4) > 0) ? rnd.NextFloat(0.5f) : 0.0f;
switch (colliderType)
{
case ColliderType.Convex:
{
int numPoints = rnd.NextInt(1, 16);
if (numPoints == 3) // TODO - hull builder doesn't build faces for flat shapes, work around it for now to run the test
{
numPoints++;
}
var points = new NativeArray <float3>(numPoints, Allocator.TempJob);
for (int i = 0; i < numPoints; i++)
{
points[i] = rnd.NextFloat3(-1.0f, 1.0f);
}
var generationParameters = ConvexHullGenerationParameters.Default;
generationParameters.BevelRadius = convexRadius;
var collider = ConvexCollider.Create(points, generationParameters, CollisionFilter.Default);
points.Dispose();
return(collider);
}
case ColliderType.Sphere:
{
return(SphereCollider.Create(new SphereGeometry
{
Center = (rnd.NextInt(4) > 0) ? float3.zero : rnd.NextFloat3(-0.5f, 0.5f),
Radius = rnd.NextFloat(0.01f, 0.5f)
}));
}
case ColliderType.Capsule:
{
float3 point0 = rnd.NextFloat3(0.0f, 1.0f);
float3 point1 = (rnd.NextInt(4) > 0) ? -point0 : rnd.NextFloat3(-1.0f, 1.0f);
return(CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = point0,
Vertex1 = point1,
Radius = rnd.NextFloat(0.01f, 0.5f)
}));
}
case ColliderType.Triangle:
{
return(PolygonCollider.CreateTriangle(rnd.NextFloat3(-1.0f, 1.0f), rnd.NextFloat3(-1.0f, 1.0f), rnd.NextFloat3(-1.0f, 1.0f)));
}
case ColliderType.Quad:
{
// Pick 3 totally random points, then choose a fourth that makes a flat and convex quad
float3 point0 = rnd.NextFloat3(-1.0f, 1.0f);
float3 point1 = rnd.NextFloat3(-1.0f, 1.0f);
float3 point3 = rnd.NextFloat3(-1.0f, 1.0f);
float t0 = rnd.NextFloat(0.0f, 1.0f);
float t1 = rnd.NextFloat(0.0f, 1.0f);
float3 e = point1 + point1 - point0;
float3 a = math.lerp(point1, e, t0);
float3 b = math.lerp(point3, point3 + point3 - point0, t0);
float3 point2 = math.lerp(a, b, t1);
return(PolygonCollider.CreateQuad(point0, point1, point2, point3));
}
case ColliderType.Box:
{
float minSize = 0.05f; // TODO - work around hull builder problems with small faces, sometimes doesn't extend 1D->2D based on face area
var boxGeometry = new BoxGeometry
{
Center = (rnd.NextInt(4) > 0) ? float3.zero : rnd.NextFloat3(-0.5f, 0.5f),
Orientation = (rnd.NextInt(4) > 0) ? quaternion.identity : rnd.NextQuaternionRotation(),
Size = rnd.NextFloat3(minSize, 1.0f)
};
float maxBevelRadius = math.max(math.cmin((boxGeometry.Size - minSize) / (2.0f * (1.0f + float.Epsilon))), 0.0f);
boxGeometry.BevelRadius = math.min(maxBevelRadius, convexRadius);
return(BoxCollider.Create(boxGeometry));
}
case ColliderType.Cylinder:
{
float minSize = 0.01f; // TODO - cylinder gets degenerate faces if radius-convexRadius=0 or height/2-convexRadius=0, decide how to handle this in CylinderCollider
var cylinderGeometry = new CylinderGeometry
{
Center = (rnd.NextInt(4) > 0) ? float3.zero : rnd.NextFloat3(-0.5f, 0.5f),
Orientation = (rnd.NextInt(4) > 0) ? quaternion.identity : rnd.NextQuaternionRotation(),
Height = rnd.NextFloat(2.0f * minSize, 1f),
Radius = rnd.NextFloat(minSize, 1.0f),
SideCount = 20
};
var maxBevelRadius = math.max(math.min(cylinderGeometry.Height / 2, cylinderGeometry.Radius) - minSize, 0.0f);
cylinderGeometry.BevelRadius = math.min(maxBevelRadius, convexRadius);
return(CylinderCollider.Create(cylinderGeometry));
}
default:
throw new NotImplementedException();
}
}
public void Execute() => Output[0] = ConvexCollider.Create(Points, GenerationParameters, CollisionFilter.Default);
public void TestConvexColliderCreateInvalid()
{
// Invalid points
{
var validBevelRadius = new ConvexHullGenerationParameters {
BevelRadius = 0.15f
};
// invalid point, +inf
{
var invalidPoints = new NativeArray <float3>(6, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(float.PositiveInfinity, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
TestUtils.ThrowsException <ArgumentException>(
() => ConvexCollider.Create(invalidPoints, validBevelRadius, CollisionFilter.Default)
);
invalidPoints.Dispose();
}
// invalid point, -inf
{
var invalidPoints = new NativeArray <float3>(6, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(float.NegativeInfinity, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
TestUtils.ThrowsException <ArgumentException>(
() => ConvexCollider.Create(invalidPoints, validBevelRadius, CollisionFilter.Default)
);
invalidPoints.Dispose();
}
// invalid point, NaN
{
var invalidPoints = new NativeArray <float3>(6, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(float.NaN, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
TestUtils.ThrowsException <ArgumentException>(
() => ConvexCollider.Create(invalidPoints, validBevelRadius, CollisionFilter.Default)
);
invalidPoints.Dispose();
}
}
// invalid convex radius
{
var points = new NativeArray <float3>(6, Allocator.TempJob)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(7.54f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
float3 scale = new float3(1.0f, 1.0f, 1.0f);
var invalidBevelRadius = new ConvexHullGenerationParameters();
// negative convex radius
{
invalidBevelRadius.BevelRadius = -0.30f;
TestUtils.ThrowsException <ArgumentException>(
() => ConvexCollider.Create(points, invalidBevelRadius, CollisionFilter.Default)
);
}
// +inf convex radius
{
invalidBevelRadius.BevelRadius = float.PositiveInfinity;
TestUtils.ThrowsException <ArgumentException>(
() => ConvexCollider.Create(points, invalidBevelRadius, CollisionFilter.Default)
);
}
// -inf convex radius
{
invalidBevelRadius.BevelRadius = float.NegativeInfinity;
TestUtils.ThrowsException <ArgumentException>(
() => ConvexCollider.Create(points, invalidBevelRadius, CollisionFilter.Default)
);
}
// nan convex radius
{
invalidBevelRadius.BevelRadius = float.NaN;
TestUtils.ThrowsException <ArgumentException>(
() => ConvexCollider.Create(points, invalidBevelRadius, CollisionFilter.Default)
);
}
points.Dispose();
}
}
private BlobAssetReference <Collider> CreateCollider(ColliderType type)
{
int numMeshes = type == ColliderType.Compound ? 2 : 1;
ColliderMeshes = new Mesh[numMeshes];
BlobAssetReference <Collider> collider = default;
switch (type)
{
case ColliderType.Sphere:
collider = SphereCollider.Create(new SphereGeometry
{
Center = float3.zero,
Radius = 0.5f
});
break;
case ColliderType.Triangle:
collider = PolygonCollider.CreateTriangle(k_TriangleVertices[0], k_TriangleVertices[1], k_TriangleVertices[2]);
break;
case ColliderType.Quad:
collider = PolygonCollider.CreateQuad(k_QuadVertices[0], k_QuadVertices[1], k_QuadVertices[2], k_QuadVertices[3]);
break;
case ColliderType.Box:
collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f),
BevelRadius = 0.0f
});
break;
case ColliderType.Capsule:
collider = CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, -0.5f, 0),
Vertex1 = new float3(0, 0.5f, 0),
Radius = 0.5f
});
break;
case ColliderType.Cylinder:
// TODO: need someone to add
throw new NotImplementedException();
case ColliderType.Convex:
// Tetrahedron
NativeArray <float3> points = new NativeArray <float3>(k_TetraherdonVertices, Allocator.TempJob);
collider = ConvexCollider.Create(points, ConvexHullGenerationParameters.Default, CollisionFilter.Default);
points.Dispose();
break;
case ColliderType.Compound:
var child1 = SphereCollider.Create(new SphereGeometry
{
Center = float3.zero,
Radius = 0.5f
});
ChildrenColliders.Add(child1);
var child2 = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f),
BevelRadius = 0.0f
});
ChildrenColliders.Add(child2);
NativeArray <ColliderBlobInstance> childrenBlobs = new NativeArray <ColliderBlobInstance>(2, Allocator.TempJob);
childrenBlobs[0] = new ColliderBlobInstance
{
Collider = child1,
CompoundFromChild = new RigidTransform
{
pos = new float3(0.5f, 0, 0),
rot = quaternion.identity
}
};
childrenBlobs[1] = new ColliderBlobInstance
{
Collider = child2,
CompoundFromChild = new RigidTransform
{
pos = new float3(-0.5f, 0, 0),
rot = quaternion.identity
}
};
ColliderMeshes[0] = SceneCreationUtilities.CreateMeshFromCollider(child1);
ColliderMeshes[1] = SceneCreationUtilities.CreateMeshFromCollider(child2);
collider = CompoundCollider.Create(childrenBlobs);
childrenBlobs.Dispose();
break;
case ColliderType.Mesh:
// Tetrahedron mesh
NativeArray <float3> meshVertices = new NativeArray <float3>(k_TetraherdonVertices, Allocator.TempJob);
NativeArray <int3> meshTriangles = new NativeArray <int3>(k_TetrahedronMeshTriangles, Allocator.TempJob);
collider = MeshCollider.Create(meshVertices, meshTriangles);
meshVertices.Dispose();
meshTriangles.Dispose();
break;
case ColliderType.Terrain:
int2 size = 2;
float3 scale = 1;
Random rand = new Random(0x9739);
int numSamples = size.x * size.y;
var heights = new NativeArray <float>(numSamples, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
for (int i = 0; i < numSamples; i++)
{
heights[i] = rand.NextFloat(0, 1);
}
collider = TerrainCollider.Create(heights, size, scale, TerrainCollider.CollisionMethod.VertexSamples);
heights.Dispose();
break;
default:
throw new System.NotImplementedException();
}
if (ColliderType != ColliderType.Compound)
{
ColliderMeshes[0] = SceneCreationUtilities.CreateMeshFromCollider(collider);
}
return(collider);
}
private void CreateRagdoll(float3 positionOffset, quaternion rotationOffset, int ragdollIndex = 1, bool internalCollisions = false)
{
var entities = new NativeList <Entity>(Allocator.Temp);
// Head
float headRadius = 0.1f;
float3 headPosition = new float3(0, 1.8f, 0);
Entity head;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.SphereCollider.Create(new SphereGeometry
{
Center = float3.zero,
Radius = headRadius
}, filter);
head = CreateDynamicBody(headPosition, quaternion.identity, collider, float3.zero, float3.zero, 5.0f);
}
entities.Add(head);
// Torso
float3 torsoSize;
float3 torsoPosition;
Entity torso;
{
//UnityEngine.Mesh torsoMesh = (UnityEngine.Mesh)Resources.Load("torso", typeof(UnityEngine.Mesh));
torsoSize = torsoMesh.bounds.size;
torsoPosition = headPosition - new float3(0, headRadius * 3.0f / 4.0f + torsoSize.y, 0);
CollisionFilter filter = internalCollisions ? layerFilter(layer.Torso, layer.Thigh | layer.Head | layer.UpperArm | layer.Pelvis) : groupFilter(-ragdollIndex);
NativeArray <float3> points = new NativeArray <float3>(torsoMesh.vertices.Length, Allocator.TempJob);
for (int i = 0; i < torsoMesh.vertices.Length; i++)
{
points[i] = torsoMesh.vertices[i];
}
BlobAssetReference <Unity.Physics.Collider> collider = ConvexCollider.Create(
points, ConvexHullGenerationParameters.Default, CollisionFilter.Default
);
points.Dispose();
collider.Value.Filter = filter;
torso = CreateDynamicBody(torsoPosition, quaternion.identity, collider, float3.zero, float3.zero, 20.0f);
}
entities.Add(torso);
// Neck
{
float3 pivotHead = new float3(0, -headRadius, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead));
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = (float)math.PI / 5.0f;
var perpendicularAngle = new FloatRange {
Max = math.PI
}; // unlimited
var twistAngle = new FloatRange(-math.PI / 3f, math.PI / 3f);
var headFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHead
};
var bodyFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody
};
PhysicsJoint.CreateRagdoll(headFrame, bodyFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, head, torso);
CreateJoint(ragdoll1, head, torso);
}
// Arms
{
float armLength = 0.25f;
float armRadius = 0.05f;
CollisionFilter armUpperFilter = internalCollisions ? layerFilter(layer.UpperArm, layer.Torso | layer.Forearm) : groupFilter(-ragdollIndex);
CollisionFilter armLowerFilter = internalCollisions ? layerFilter(layer.Forearm, layer.UpperArm | layer.Hand) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> upperArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-armLength / 2, 0, 0),
Vertex1 = new float3(armLength / 2, 0, 0),
Radius = armRadius
}, armUpperFilter);
BlobAssetReference <Unity.Physics.Collider> foreArmCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-armLength / 2, 0, 0),
Vertex1 = new float3(armLength / 2, 0, 0),
Radius = armRadius
}, armLowerFilter);
float handLength = 0.025f;
float handRadius = 0.055f;
CollisionFilter handFilter = internalCollisions ? layerFilter(layer.Hand, layer.Forearm) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> handCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-handLength / 2, 0, 0),
Vertex1 = new float3(handLength / 2, 0, 0),
Radius = handRadius
}, handFilter);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 upperArmPosition = torsoPosition + new float3(s * (torsoSize.x + armLength) / 2.0f, 0.9f * torsoSize.y - armRadius, 0.0f);
Entity upperArm = CreateDynamicBody(upperArmPosition, quaternion.identity, upperArmCollider, float3.zero, float3.zero, 10.0f);
float3 foreArmPosition = upperArmPosition + new float3(armLength * s, 0, 0);
Entity foreArm = CreateDynamicBody(foreArmPosition, quaternion.identity, foreArmCollider, float3.zero, float3.zero, 5.0f);
float3 handPosition = foreArmPosition + new float3((armLength + handLength) / 2.0f * s, 0, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 2.0f);
entities.Add(upperArm);
entities.Add(foreArm);
entities.Add(hand);
// shoulder
{
float3 pivotArm = new float3(-s * armLength / 2.0f, 0, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm));
float3 axis = new float3(s, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = (float)math.PI / 2.0f;
var perpendicularAngle = new FloatRange {
Max = math.PI / 2f
};
var twistAngle = new FloatRange(-math.PI / 4f, math.PI / 4f);
var armFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotArm
};
var bodyFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody
};
PhysicsJoint.CreateRagdoll(armFrame, bodyFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, upperArm, torso);
CreateJoint(ragdoll1, upperArm, torso);
}
// elbow
{
float3 pivotUpper = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotFore = -pivotUpper;
float3 axis = new float3(0, -s, 0);
float3 perpendicular = new float3(s, 0, 0);
var lowerArmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
var upperArmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotUpper
};
PhysicsJoint hinge =
PhysicsJoint.CreateLimitedHinge(lowerArmFrame, upperArmFrame, new FloatRange {
Max = 3f
});
CreateJoint(hinge, foreArm, upperArm);
}
// wrist
{
float3 pivotFore = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotHand = new float3(-s * handLength / 2.0f, 0, 0);
float3 axis = new float3(0, -s, 0);
float3 perpendicular = new float3(s, 0, 0);
var handFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotHand
};
var forearmFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFore
};
PhysicsJoint hinge =
PhysicsJoint.CreateLimitedHinge(handFrame, forearmFrame, new FloatRange(-0.3f, 0.6f));
CreateJoint(hinge, hand, foreArm);
}
}
}
// Pelvis
float pelvisRadius = 0.08f;
float pelvisLength = 0.22f;
float3 pelvisPosition = torsoPosition - new float3(0, pelvisRadius * 0.75f, 0.0f);
Entity pelvis;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Pelvis, layer.Torso | layer.Thigh) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-pelvisLength / 2, 0, 0),
Vertex1 = new float3(pelvisLength / 2, 0, 0),
Radius = pelvisRadius
}, filter);
pelvis = CreateDynamicBody(pelvisPosition, quaternion.identity, collider, float3.zero, float3.zero, 15.0f);
}
entities.Add(pelvis);
// Waist
{
float3 pivotTorso = float3.zero;
float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(torso), pivotTorso));
float3 axis = new float3(0, -1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = 0.1f;
var perpendicularAngle = new FloatRange(-0.1f, math.PI);
var twistAngle = new FloatRange(-0.1f, 0.1f);
var pelvisFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotPelvis
};
var torsoFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotTorso
};
PhysicsJoint.CreateRagdoll(pelvisFrame, torsoFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, pelvis, torso);
CreateJoint(ragdoll1, pelvis, torso);
}
// Legs
{
float thighLength = 0.32f;
float thighRadius = 0.08f;
CollisionFilter thighFilter = internalCollisions ? layerFilter(layer.Thigh, layer.Pelvis | layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> thighCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, -thighLength / 2, 0),
Vertex1 = new float3(0, thighLength / 2, 0),
Radius = thighRadius
}, thighFilter);
float calfLength = 0.32f;
float calfRadius = 0.06f;
CollisionFilter calfFilter = internalCollisions ? layerFilter(layer.Calf, layer.Thigh | layer.Foot) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> calfCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, -calfLength / 2, 0),
Vertex1 = new float3(0, calfLength / 2, 0),
Radius = calfRadius
}, calfFilter);
float footLength = 0.08f;
float footRadius = 0.06f;
CollisionFilter footFilter = internalCollisions ? layerFilter(layer.Foot, layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0),
Vertex1 = new float3(0, 0, footLength),
Radius = footRadius
}, footFilter);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 thighPosition = pelvisPosition + new float3(s * pelvisLength / 2.0f, -thighLength / 2.0f, 0.0f);
Entity thigh = CreateDynamicBody(thighPosition, quaternion.identity, thighCollider, float3.zero, float3.zero, 10.0f);
float3 calfPosition = thighPosition + new float3(0, -(thighLength + calfLength) / 2.0f, 0);
Entity calf = CreateDynamicBody(calfPosition, quaternion.identity, calfCollider, float3.zero, float3.zero, 5.0f);
float3 footPosition = calfPosition + new float3(0, -calfLength / 2.0f, 0);
Entity foot = CreateDynamicBody(footPosition, quaternion.identity, footCollider, float3.zero, float3.zero, 2.0f);
entities.Add(thigh);
entities.Add(calf);
entities.Add(foot);
// hip
{
float3 pivotThigh = new float3(0, thighLength / 2.0f, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(0, -1, 0);
float3 perpendicular = new float3(s, 0, 0);
float coneAngle = (float)math.PI / 4.0f;
var perpendicularAngle = new FloatRange {
Max = 0.2f + math.PI / 2.0f
};
var twistAngle = new FloatRange(-0.2f, 0.2f);
var upperLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotThigh
};
var bodyFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotBody
};
PhysicsJoint.CreateRagdoll(upperLegFrame, bodyFrame, coneAngle, perpendicularAngle, twistAngle, out var ragdoll0, out var ragdoll1);
CreateJoint(ragdoll0, thigh, torso);
CreateJoint(ragdoll1, thigh, torso);
}
// knee
{
float3 pivotThigh = new float3(0, -thighLength / 2.0f, 0);
float3 pivotCalf = math.transform(math.inverse(GetBodyTransform(calf)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var lowerLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf
};
var upperLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotThigh
};
PhysicsJoint hinge =
PhysicsJoint.CreateLimitedHinge(lowerLegFrame, upperLegFrame, new FloatRange {
Min = -1.2f
});
CreateJoint(hinge, calf, thigh);
}
// ankle
{
float3 pivotCalf = new float3(0, -calfLength / 2.0f, 0);
float3 pivotFoot = float3.zero;
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
var footFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotFoot
};
var lowerLegFrame = new BodyFrame {
Axis = axis, PerpendicularAxis = perpendicular, Position = pivotCalf
};
PhysicsJoint hinge =
PhysicsJoint.CreateLimitedHinge(footFrame, lowerLegFrame, new FloatRange(-0.4f, 0.1f));
CreateJoint(hinge, foot, calf);
}
}
}
var entityManager = BasePhysicsDemo.DefaultWorld.EntityManager;
// reposition with offset information
if (entities.Length > 0)
{
float3 center = float3.zero;
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
center += entityManager.GetComponentData <Translation>(e).Value;
}
center /= entities.Length;
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
Translation positionComponent = entityManager.GetComponentData <Translation>(e);
Rotation rotationComponent = entityManager.GetComponentData <Rotation>(e);
float3 position = positionComponent.Value;
quaternion rotation = rotationComponent.Value;
float3 localPosition = position - center;
localPosition = math.rotate(rotationOffset, localPosition);
position = localPosition + center + positionOffset;
rotation = math.mul(rotation, rotationOffset);
positionComponent.Value = position;
rotationComponent.Value = rotation;
entityManager.SetComponentData <Translation>(e, positionComponent);
entityManager.SetComponentData <Rotation>(e, rotationComponent);
}
}
}
public void TestConvexColliderCreateInvalid()
{
// Invalid points
{
float convexRadius = 0.15f;
// invalid point, +inf
{
var invalidPoints = new NativeArray <float3>(6, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(float.PositiveInfinity, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
TestUtils.ThrowsException <System.ArgumentException>(
() => ConvexCollider.Create(invalidPoints, convexRadius)
);
invalidPoints.Dispose();
}
// invalid point, -inf
{
var invalidPoints = new NativeArray <float3>(6, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(float.NegativeInfinity, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f),
};
TestUtils.ThrowsException <System.ArgumentException>(
() => ConvexCollider.Create(invalidPoints, convexRadius)
);
invalidPoints.Dispose();
}
// invalid point, NaN
{
var invalidPoints = new NativeArray <float3>(6, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(float.NaN, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
TestUtils.ThrowsException <System.ArgumentException>(
() => ConvexCollider.Create(invalidPoints, convexRadius)
);
invalidPoints.Dispose();
}
}
// invalid convex radius
{
var points = new NativeArray <float3>(6, Allocator.Temp)
{
[0] = new float3(1.45f, 8.67f, 3.45f),
[1] = new float3(8.75f, 1.23f, 6.44f),
[2] = new float3(7.54f, 5.33f, -2.55f),
[3] = new float3(8.76f, 4.56f, -4.54f),
[4] = new float3(9.75f, -0.45f, -8.99f),
[5] = new float3(7.66f, 3.44f, 0.0f)
};
float3 scale = new float3(1.0f, 1.0f, 1.0f);
// negative convex radius
{
float invalidConvexRadius = -0.30f;
TestUtils.ThrowsException <System.ArgumentException>(
() => ConvexCollider.Create(points, invalidConvexRadius)
);
}
// +inf convex radius
{
float invalidConvexRadius = float.PositiveInfinity;
TestUtils.ThrowsException <System.ArgumentException>(
() => ConvexCollider.Create(points, invalidConvexRadius)
);
}
// -inf convex radius
{
float invalidConvexRadius = float.NegativeInfinity;
TestUtils.ThrowsException <System.ArgumentException>(
() => ConvexCollider.Create(points, invalidConvexRadius)
);
}
// nan convex radius
{
float invalidConvexRadius = float.NaN;
TestUtils.ThrowsException <System.ArgumentException>(
() => ConvexCollider.Create(points, invalidConvexRadius)
);
}
points.Dispose();
}
}
private void CreateRagdoll(float3 positionOffset, quaternion rotationOffset, int ragdollIndex = 1, bool internalCollisions = false)
{
NativeList <Entity> entities = new NativeList <Entity>(Allocator.Temp);
// Head
float headRadius = 0.1f;
float3 headPosition = new float3(0, 1.8f, 0);
Entity head;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Head, layer.Torso) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.SphereCollider.Create(float3.zero, headRadius, filter);
head = CreateDynamicBody(headPosition, quaternion.identity, collider, float3.zero, float3.zero, 5.0f);
}
entities.Add(head);
// Torso
float3 torsoSize;
float3 torsoPosition;
Entity torso;
{
//UnityEngine.Mesh torsoMesh = (UnityEngine.Mesh)Resources.Load("torso", typeof(UnityEngine.Mesh));
torsoSize = torsoMesh.bounds.size;
torsoPosition = headPosition - new float3(0, headRadius * 3.0f / 4.0f + torsoSize.y, 0);
CollisionFilter filter = internalCollisions ? layerFilter(layer.Torso, layer.Thigh | layer.Head | layer.UpperArm | layer.Pelvis) : groupFilter(-ragdollIndex);
NativeArray <float3> points = new NativeArray <float3>(torsoMesh.vertices.Length, Allocator.Temp);
for (int i = 0; i < torsoMesh.vertices.Length; i++)
{
points[i] = torsoMesh.vertices[i];
}
BlobAssetReference <Unity.Physics.Collider> collider = ConvexCollider.Create(points, 0.01f);
collider.Value.Filter = filter;
torso = CreateDynamicBody(torsoPosition, quaternion.identity, collider, float3.zero, float3.zero, 20.0f);
}
entities.Add(torso);
// Neck
{
float3 pivotHead = new float3(0, -headRadius, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(head), pivotHead));
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = (float)math.PI / 5.0f;
float minPerpendicularAngle = 0.0f; // unlimited
float maxPerpendicularAngle = (float)math.PI; // unlimited
float twistAngle = (float)math.PI / 3.0f;
BlobAssetReference <JointData> ragdoll0, ragdoll1;
JointData.CreateRagdoll(pivotHead, pivotBody, axis, axis, perpendicular, perpendicular,
coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle,
out ragdoll0, out ragdoll1);
CreateJoint(ragdoll0, head, torso);
CreateJoint(ragdoll1, head, torso);
}
// Arms
{
float armLength = 0.25f;
float armRadius = 0.05f;
CollisionFilter armUpperFilter = internalCollisions ? layerFilter(layer.UpperArm, layer.Torso | layer.Forearm) : groupFilter(-ragdollIndex);
CollisionFilter armLowerFilter = internalCollisions ? layerFilter(layer.Forearm, layer.UpperArm | layer.Hand) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> upperArmCollider = Unity.Physics.CapsuleCollider.Create(new float3(-armLength / 2, 0, 0), new float3(armLength / 2, 0, 0), armRadius,
armUpperFilter);
BlobAssetReference <Unity.Physics.Collider> foreArmCollider = Unity.Physics.CapsuleCollider.Create(new float3(-armLength / 2, 0, 0), new float3(armLength / 2, 0, 0), armRadius,
armLowerFilter);
float handLength = 0.025f;
float handRadius = 0.055f;
CollisionFilter handFilter = internalCollisions ? layerFilter(layer.Hand, layer.Forearm) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> handCollider = Unity.Physics.CapsuleCollider.Create(new float3(-handLength / 2, 0, 0), new float3(handLength / 2, 0, 0), handRadius,
handFilter);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 upperArmPosition = torsoPosition + new float3(s * (torsoSize.x + armLength) / 2.0f, 0.9f * torsoSize.y - armRadius, 0.0f);
Entity upperArm = CreateDynamicBody(upperArmPosition, quaternion.identity, upperArmCollider, float3.zero, float3.zero, 10.0f);
float3 foreArmPosition = upperArmPosition + new float3(armLength * s, 0, 0);
Entity foreArm = CreateDynamicBody(foreArmPosition, quaternion.identity, foreArmCollider, float3.zero, float3.zero, 5.0f);
float3 handPosition = foreArmPosition + new float3((armLength + handLength) / 2.0f * s, 0, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 2.0f);
entities.Add(upperArm);
entities.Add(foreArm);
entities.Add(hand);
// shoulder
{
float3 pivotArm = new float3(-s * armLength / 2.0f, 0, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(upperArm), pivotArm));
float3 axis = new float3(s, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = (float)math.PI / 2.0f;
float minPerpendicularAngle = 0.0f;
float maxPerpendicularAngle = (float)math.PI / 2.0f;
float twistAngle = (float)math.PI / 4.0f;
BlobAssetReference <JointData> ragdoll0, ragdoll1;
JointData.CreateRagdoll(pivotArm, pivotBody, axis, axis, perpendicular, perpendicular,
coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle,
out ragdoll0, out ragdoll1);
CreateJoint(ragdoll0, upperArm, torso);
CreateJoint(ragdoll1, upperArm, torso);
}
// elbow
{
float3 pivotUpper = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotFore = -pivotUpper;
float3 axis = new float3(0, -s, 0);
float3 perpendicular = new float3(s, 0, 0);
float minAngle = 0.0f;
float maxAngle = 3.0f;
BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotFore, pivotUpper, axis, axis, perpendicular, perpendicular, minAngle, maxAngle);
CreateJoint(hinge, foreArm, upperArm);
}
// wrist
{
float3 pivotFore = new float3(s * armLength / 2.0f, 0, 0);
float3 pivotHand = new float3(-s * handLength / 2.0f, 0, 0);
float3 axis = new float3(0, -s, 0);
float3 perpendicular = new float3(s, 0, 0);
float minAngle = -0.3f;
float maxAngle = 0.6f;
BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotHand, pivotFore, axis, axis, perpendicular, perpendicular, minAngle, maxAngle);
CreateJoint(hinge, hand, foreArm);
}
}
}
// Pelvis
float pelvisRadius = 0.08f;
float pelvisLength = 0.22f;
float3 pelvisPosition = torsoPosition - new float3(0, pelvisRadius * 0.75f, 0.0f);
Entity pelvis;
{
CollisionFilter filter = internalCollisions ? layerFilter(layer.Pelvis, layer.Torso | layer.Thigh) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> collider = Unity.Physics.CapsuleCollider.Create(new float3(-pelvisLength / 2.0f, 0, 0), new float3(pelvisLength / 2.0f, 0, 0), pelvisRadius,
filter);
pelvis = CreateDynamicBody(pelvisPosition, quaternion.identity, collider, float3.zero, float3.zero, 15.0f);
}
entities.Add(pelvis);
// Waist
{
float3 pivotTorso = float3.zero;
float3 pivotPelvis = math.transform(math.inverse(GetBodyTransform(pelvis)), math.transform(GetBodyTransform(torso), pivotTorso));
float3 axis = new float3(0, -1, 0);
float3 perpendicular = new float3(0, 0, 1);
float coneAngle = 0.1f;
float minPerpendicularAngle = -0.1f;
float maxPerpendicularAngle = (float)math.PI;
float twistAngle = 0.1f;
BlobAssetReference <JointData> ragdoll0, ragdoll1;
JointData.CreateRagdoll(pivotPelvis, pivotTorso, axis, axis, perpendicular, perpendicular,
coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle,
out ragdoll0, out ragdoll1);
CreateJoint(ragdoll0, pelvis, torso);
CreateJoint(ragdoll1, pelvis, torso);
}
// Legs
{
float thighLength = 0.32f;
float thighRadius = 0.08f;
CollisionFilter thighFilter = internalCollisions ? layerFilter(layer.Thigh, layer.Pelvis | layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> thighCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, -thighLength / 2, 0), new float3(0, thighLength / 2, 0), thighRadius,
thighFilter);
float calfLength = 0.32f;
float calfRadius = 0.06f;
CollisionFilter calfFilter = internalCollisions ? layerFilter(layer.Calf, layer.Thigh | layer.Foot) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> calfCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, -calfLength / 2, 0), new float3(0, calfLength / 2, 0), calfRadius,
calfFilter);
float footLength = 0.08f;
float footRadius = 0.06f;
CollisionFilter footFilter = internalCollisions ? layerFilter(layer.Foot, layer.Calf) : groupFilter(-ragdollIndex);
BlobAssetReference <Unity.Physics.Collider> footCollider = Unity.Physics.CapsuleCollider.Create(new float3(0, 0, 0), new float3(0, 0, footLength), footRadius,
footFilter);
for (int i = 0; i < 2; i++)
{
float s = i * 2 - 1.0f;
float3 thighPosition = pelvisPosition + new float3(s * pelvisLength / 2.0f, -thighLength / 2.0f, 0.0f);
Entity thigh = CreateDynamicBody(thighPosition, quaternion.identity, thighCollider, float3.zero, float3.zero, 10.0f);
float3 calfPosition = thighPosition + new float3(0, -(thighLength + calfLength) / 2.0f, 0);
Entity calf = CreateDynamicBody(calfPosition, quaternion.identity, calfCollider, float3.zero, float3.zero, 5.0f);
float3 footPosition = calfPosition + new float3(0, -calfLength / 2.0f, 0);
Entity foot = CreateDynamicBody(footPosition, quaternion.identity, footCollider, float3.zero, float3.zero, 2.0f);
entities.Add(thigh);
entities.Add(calf);
entities.Add(foot);
// hip
{
float3 pivotThigh = new float3(0, thighLength / 2.0f, 0);
float3 pivotBody = math.transform(math.inverse(GetBodyTransform(torso)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(0, -1, 0);
float3 perpendicular = new float3(s, 0, 0);
float coneAngle = (float)math.PI / 4.0f;
float minPerpendicularAngle = 0.0f;
float maxPerpendicularAngle = 0.2f + (float)math.PI / 2.0f;
float twistAngle = 0.2f;
BlobAssetReference <JointData> ragdoll0, ragdoll1;
JointData.CreateRagdoll(pivotThigh, pivotBody, axis, axis, perpendicular, perpendicular,
coneAngle, minPerpendicularAngle, maxPerpendicularAngle, -twistAngle, twistAngle,
out ragdoll0, out ragdoll1);
CreateJoint(ragdoll0, thigh, torso);
CreateJoint(ragdoll1, thigh, torso);
}
// knee
{
float3 pivotThigh = new float3(0, -thighLength / 2.0f, 0);
float3 pivotCalf = math.transform(math.inverse(GetBodyTransform(calf)), math.transform(GetBodyTransform(thigh), pivotThigh));
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
float minAngle = -1.2f;
float maxAngle = 0.0f;
BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotCalf, pivotThigh, axis, axis, perpendicular, perpendicular, minAngle, maxAngle);
CreateJoint(hinge, calf, thigh);
}
// ankle
{
float3 pivotCalf = new float3(0, -calfLength / 2.0f, 0);
float3 pivotFoot = float3.zero;
float3 axis = new float3(-1, 0, 0);
float3 perpendicular = new float3(0, 0, 1);
float minAngle = -0.4f;
float maxAngle = 0.1f;
BlobAssetReference <JointData> hinge = JointData.CreateLimitedHinge(pivotFoot, pivotCalf, axis, axis, perpendicular, perpendicular, minAngle, maxAngle);
CreateJoint(hinge, foot, calf);
}
}
}
// reposition with offset information
if (entities.Length > 0)
{
float3 center = float3.zero;
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
center += EntityManager.GetComponentData <Translation>(e).Value;
}
center /= entities.Length;
for (int i = 0; i < entities.Length; i++)
{
var e = entities[i];
Translation positionComponent = EntityManager.GetComponentData <Translation>(e);
Rotation rotationComponent = EntityManager.GetComponentData <Rotation>(e);
float3 position = positionComponent.Value;
quaternion rotation = rotationComponent.Value;
float3 localPosition = position - center;
localPosition = math.rotate(rotationOffset, localPosition);
position = localPosition + center + positionOffset;
rotation = math.mul(rotation, rotationOffset);
positionComponent.Value = position;
rotationComponent.Value = rotation;
EntityManager.SetComponentData <Translation>(e, positionComponent);
EntityManager.SetComponentData <Rotation>(e, rotationComponent);
}
}
}
