public void Box_PointOnFace()
{
using (var box = CreateBox())
{
HullDrawingUtility.DrawBasicHull(box, RigidTransform.identity, Color.black, 100);
var rotateEveryAxis45 = Quaternion.Euler((float3)45);
// up and rotated position
var insideUnitBox = new RigidTransform(rotateEveryAxis45, new float3(0.2f, 1.34f, 0.1f));
var outsideUnitBox = new RigidTransform(rotateEveryAxis45, new float3(0.2f, 1.38f, 0.1f));
Assert.IsTrue(HullCollision.IsColliding(insideUnitBox, box, RigidTransform.identity, box));
Assert.IsFalse(HullCollision.IsColliding(outsideUnitBox, box, RigidTransform.identity, box));
HullDrawingUtility.DrawBasicHull(box, insideUnitBox, Color.blue, 100);
HullDrawingUtility.DrawBasicHull(box, outsideUnitBox, Color.black, 100);
// down and rotated position
insideUnitBox = new RigidTransform(rotateEveryAxis45, new float3(0.2f, -1.34f, 0.1f));
outsideUnitBox = new RigidTransform(rotateEveryAxis45, new float3(0.2f, -1.38f, 0.1f));
Assert.IsTrue(HullCollision.IsColliding(insideUnitBox, box, RigidTransform.identity, box));
Assert.IsFalse(HullCollision.IsColliding(outsideUnitBox, box, RigidTransform.identity, box));
HullDrawingUtility.DrawBasicHull(box, insideUnitBox, Color.blue, 100);
HullDrawingUtility.DrawBasicHull(box, outsideUnitBox, Color.black, 100);
}
}
public void Box_EdgeSeparation()
{
using (var box = CreateBox())
{
// These two boxes are positioned so that both face SAT checks would show no separation,
// a working SAT edge test is required to catch the false positive.
var boxTransformA = new RigidTransform(Quaternion.Euler(-24.357f, -4.779f, -32.115f), new float3(-0.089f, -0.821f, -2.233f));
var boxTransformB = new RigidTransform(Quaternion.Euler(55.943f, 21.207f, 47.057f), new float3(-0.207f, -0.06f, -1.256f));
Assert.IsFalse(HullCollision.IsColliding(boxTransformA, box, boxTransformB, box));
HullDrawingUtility.DrawBasicHull(box, boxTransformA, Color.blue, 100);
HullDrawingUtility.DrawBasicHull(box, boxTransformB, Color.black, 100);
}
}
public void Box_EdgeOnEdge()
{
using (var box = CreateBox())
{
HullDrawingUtility.DrawBasicHull(box, RigidTransform.identity, Color.black, 100);
var rotateEveryAxis45 = Quaternion.Euler((float3)45);
var insideUnitBox = new RigidTransform(rotateEveryAxis45, new float3(0.2f, 1.1f, -0.80f));
var outsideUnitBox = new RigidTransform(rotateEveryAxis45, new float3(0.184f, 1.123f, -0.816f));
Assert.IsTrue(HullCollision.IsColliding(insideUnitBox, box, RigidTransform.identity, box));
Assert.IsFalse(HullCollision.IsColliding(outsideUnitBox, box, RigidTransform.identity, box));
HullDrawingUtility.DrawBasicHull(box, insideUnitBox, Color.blue, 100);
HullDrawingUtility.DrawBasicHull(box, outsideUnitBox, Color.black, 100);
}
}
private void HandleHullCollisions()
{
for (int i = 0; i < Transforms.Count; ++i)
{
var tA = Transforms[i];
if (tA == null)
{
continue;
}
var hullA = Hulls[tA.GetInstanceID()].Hull;
var transformA = new RigidTransform(tA.rotation, tA.position);
HullDrawingUtility.DrawDebugHull(hullA, transformA, HullDrawingOptions);
if (LogClosestPoint)
{
var sw3 = System.Diagnostics.Stopwatch.StartNew();
var result3 = HullCollision.ClosestPoint(transformA, hullA, 0);
sw3.Stop();
var sw4 = System.Diagnostics.Stopwatch.StartNew();
var result4 = HullOperations.ClosestPoint.Invoke(transformA, hullA, 0);
sw4.Stop();
if (DrawClosestPoint)
{
DebugDrawer.DrawSphere(result4, 0.1f, Color.blue);
DebugDrawer.DrawLine(result4, Vector3.zero, Color.blue);
}
Debug.Log($"ClosestPoint between '{tA.name}' and world zero took: {sw3.Elapsed.TotalMilliseconds:N4}ms (Normal), {sw4.Elapsed.TotalMilliseconds:N4}ms (Burst)");
}
for (int j = i + 1; j < Transforms.Count; j++)
{
var tB = Transforms[j];
if (tB == null)
{
continue;
}
if (!tA.hasChanged && !tB.hasChanged)
{
continue;
}
var hullB = Hulls[tB.GetInstanceID()].Hull;
var transformB = new RigidTransform(tB.rotation, tB.position);
HullDrawingUtility.DrawDebugHull(hullB, transformB, HullDrawingOptions);
DrawHullCollision(tA.gameObject, tB.gameObject, transformA, hullA, transformB, hullB);
if (LogCollisions)
{
var sw1 = System.Diagnostics.Stopwatch.StartNew();
var result1 = HullCollision.IsColliding(transformA, hullA, transformB, hullB);
sw1.Stop();
var sw2 = System.Diagnostics.Stopwatch.StartNew();
var result2 = HullOperations.IsColliding.Invoke(transformA, hullA, transformB, hullB);
sw2.Stop();
Debug.Assert(result1 == result2);
Debug.Log($"Collisions between '{tA.name}'/'{tB.name}' took: {sw1.Elapsed.TotalMilliseconds:N4}ms (Normal), {sw2.Elapsed.TotalMilliseconds:N4}ms (Burst)");
}
}
}
if (LogCollisions)
{
TestBatchCollision();
}
}
public void DrawHullCollision(GameObject a, GameObject b, RigidTransform t1, NativeHull hull1, RigidTransform t2, NativeHull hull2)
{
var collision = HullCollision.GetDebugCollisionInfo(t1, hull1, t2, hull2);
if (collision.IsColliding)
{
if (DrawIntersection) // Visualize all faces of the intersection
{
HullIntersection.DrawNativeHullHullIntersection(t1, hull1, t2, hull2);
}
if (DrawContact || LogContact) // Visualize the minimal contact calcluation for physics
{
//var manifold = HullOperations.GetContact.Invoke(t1, hull1, t2, hull2);
var sw1 = System.Diagnostics.Stopwatch.StartNew();
var tmp = new NativeManifold(Allocator.Persistent);
var normalResult = HullIntersection.NativeHullHullContact(ref tmp, t1, hull1, t2, hull2);
sw1.Stop();
tmp.Dispose();
var sw2 = System.Diagnostics.Stopwatch.StartNew();
var burstResult = HullOperations.TryGetContact.Invoke(out NativeManifold manifold, t1, hull1, t2, hull2);
sw2.Stop();
if (LogContact)
{
Debug.Log($"GetContact between '{a.name}'/'{b.name}' took: {sw1.Elapsed.TotalMilliseconds:N4}ms (Normal), {sw2.Elapsed.TotalMilliseconds:N4}ms (Burst)");
}
if (DrawContact && burstResult)
{
// Do something with manifold
HullDrawingUtility.DebugDrawManifold(manifold);
//var points = manifold.Points;
for (int i = 0; i < manifold.Length; i++)
{
var point = manifold[i];
DebugDrawer.DrawSphere(point.Position, 0.02f);
DebugDrawer.DrawArrow(point.Position, manifold.Normal * 0.2f);
var penentrationPoint = point.Position + manifold.Normal * point.Distance;
DebugDrawer.DrawLabel(penentrationPoint, $"{point.Distance:N2}");
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge1, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge1, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge2, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge2, t1, hull1);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge1, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge1, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.InEdge2, t2, hull2);
HullDrawingUtility.DrawEdge(point.Id.FeaturePair.OutEdge2, t2, hull2);
DebugDrawer.DrawDottedLine(point.Position, penentrationPoint);
}
manifold.Dispose();
}
}
if (DrawIsCollided)
{
DebugDrawer.DrawSphere(t1.pos, 0.1f, UnityColors.GhostDodgerBlue);
DebugDrawer.DrawSphere(t2.pos, 0.1f, UnityColors.GhostDodgerBlue);
}
}
if (DrawClosestFace)
{
var color1 = collision.Face1.Distance > 0 ? UnityColors.Red.ToOpacity(0.3f) : UnityColors.Yellow.ToOpacity(0.3f);
HullDrawingUtility.DrawFaceWithOutline(collision.Face1.Index, t1, hull1, color1, UnityColors.Black);
var color2 = collision.Face2.Distance > 0 ? UnityColors.Red.ToOpacity(0.3f) : UnityColors.Yellow.ToOpacity(0.3f);
HullDrawingUtility.DrawFaceWithOutline(collision.Face2.Index, t2, hull2, color2, UnityColors.Black);
}
}
