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();
}
}
