// I might not want to get the closest enemy, but a specific enemy.
// might use entity.id + entity.version of an entity and get position of entity
// if current target is destroyed, maybe seach for new target or destroy bullet
// add another option for auto mode
// start with auto and maybe can focus on specifics later
public void CheckForObstacle(int index)
{
CollisionFilter obstacleFilter = new CollisionFilter()
{
BelongsTo = ~0u,
CollidesWith = 16u + groupIndex,
GroupIndex = 0
};
PointDistanceInput obstacePointDistanceInput = new PointDistanceInput {
Position = cellSeparation[index],
MaxDistance = boidsData[index].obstacleAversionDistance,
Filter = obstacleFilter
};
if (physicsWorld.CalculateDistance(obstacePointDistanceInput, out DistanceHit obstaceHit))
{
cellObstaclePositions[index] = obstaceHit.Position;
cellObstacleDistance[index] = obstaceHit.Distance;
if (obstaceHit.Distance < settings.boidRadius)
{
Entity targetEntity = physicsWorld.CollisionWorld.Bodies[obstaceHit.RigidBodyIndex].Entity;
var hash = (int)math.hash(new int2(targetEntity.Index, targetEntity.Version));
damageDict.Add(hash, 1);
killTrigger[index] = 1;
}
}
else
{
cellObstacleDistance[index] = boidsData[index].obstacleAversionDistance + 1;
}
}
public unsafe void PhysicsBodyCalculateDistancePointTest()
{
var geometry = new BoxGeometry
{
Size = new float2(1f),
};
using (var collider = PhysicsBoxCollider.Create(geometry))
{
var physicsBody = new PhysicsBody(collider);
var queryInput = new PointDistanceInput
{
Position = new float2(-10f),
Filter = CollisionFilter.Default
};
var closestHit = new DistanceHit();
var allHits = new NativeList <DistanceHit>(Allocator.Temp);
// OK case : with enough max distance
queryInput.MaxDistance = 10000.0f;
Assert.IsTrue(physicsBody.CalculateDistance(queryInput));
Assert.IsTrue(physicsBody.CalculateDistance(queryInput, out closestHit));
Assert.IsTrue(physicsBody.CalculateDistance(queryInput, ref allHits));
// Fail case : not enough max distance
queryInput.MaxDistance = 1;
Assert.IsFalse(physicsBody.CalculateDistance(queryInput));
Assert.IsFalse(physicsBody.CalculateDistance(queryInput, out closestHit));
Assert.IsFalse(physicsBody.CalculateDistance(queryInput, ref allHits));
allHits.Dispose();
}
}
protected override JobHandle OnUpdate(JobHandle inputDeps)
{
PhysicsWorld physicsWorld = buildPhysicsWorld.PhysicsWorld;
inputDeps = JobHandle.CombineDependencies(inputDeps, buildPhysicsWorld.FinalJobHandle);
inputDeps = JobHandle.CombineDependencies(inputDeps, stepPhysicsWorld.FinalJobHandle);
var jobHandle = Entities.ForEach((ref DynamicBuffer <EntityBufferElement> adjacentEntities,
in Translation position, in BugComponent bug) =>
{
NativeList <DistanceHit> distanceHits = new NativeList <DistanceHit>(Allocator.Temp);
var pointDistanceInput = new PointDistanceInput
{
Position = position.Value,
MaxDistance = bug.Radius,
Filter = LayerFilter(Layer.Bug, Layer.Obstacle)
};
physicsWorld.CalculateDistance(pointDistanceInput, ref distanceHits);
adjacentEntities.Clear();
var adjacent = adjacentEntities.Reinterpret <Entity>();
for (int i = 0; i < distanceHits.Length; i++)
{
adjacent.Add(distanceHits[i].Entity);
}
distanceHits.Dispose();
})
public static bool OverlapSphereCustom <T, C>(ref T target, float3 position, sfloat radius, ref C collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
where T : struct, ICollidable
where C : struct, ICollector <DistanceHit>
{
PointDistanceInput input = new PointDistanceInput
{
Filter = filter,
MaxDistance = radius,
Position = position
};
if (queryInteraction == QueryInteraction.Default)
{
return(target.CalculateDistance(input, ref collector));
}
else
{
unsafe
{
var interactionCollector = new QueryInteractionCollector <DistanceHit, C>
{
Collector = collector
};
bool returnValue = target.CalculateDistance(input, ref interactionCollector);
collector = interactionCollector.Collector;
return(returnValue);
}
}
}
protected unsafe override JobHandle OnUpdate(JobHandle inputDependencies)
{
var job = new DamageAreaHitDetectionSystemJob();
job.DamageEntities = DamageAreaQuery.ToEntityArray(Allocator.TempJob);
job.Translations = DamageAreaQuery.ToComponentDataArray <Translation>(Allocator.TempJob);
job.DamageAreas = DamageAreaQuery.ToComponentDataArray <DamageArea>(Allocator.TempJob);
job.PhysicsWorld = _physicsWorld.PhysicsWorld;
job.DamageAreasFromEntity = GetComponentDataFromEntity <DamageArea>();
job.HealthsFromEntity = GetComponentDataFromEntity <Health>();
job.DistanceHits = new NativeArray <DistanceHit>(128, Allocator.TempJob);
PointDistanceInput = new PointDistanceInput
{
Position = float3.zero,
MaxDistance = 50
};
job.pointDistanceInput = PointDistanceInput;
inputDependencies = job.Schedule(inputDependencies);
inputDependencies.Complete();
return(inputDependencies);
}
public unsafe void RigidBodyCalculateDistancePointTest()
{
Physics.RigidBody rigidbody = Unity.Physics.RigidBody.Zero;
const float size = 1.0f;
const float convexRadius = 0.0f;
var queryPos = new float3(-10, -10, -10);
rigidbody.Collider = (Collider *)BoxCollider.Create(float3.zero, quaternion.identity, new float3(size), convexRadius).GetUnsafePtr();
var pointDistanceInput = new PointDistanceInput();
pointDistanceInput.Position = queryPos;
pointDistanceInput.Filter = CollisionFilter.Default;
var closestHit = new DistanceHit();
var allHits = new NativeList <DistanceHit>(Allocator.Temp);
// OK case : with enough max distance
pointDistanceInput.MaxDistance = 10000.0f;
Assert.IsTrue(rigidbody.CalculateDistance(pointDistanceInput));
Assert.IsTrue(rigidbody.CalculateDistance(pointDistanceInput, out closestHit));
Assert.IsTrue(rigidbody.CalculateDistance(pointDistanceInput, ref allHits));
// Fail case : not enough max distance
pointDistanceInput.MaxDistance = 1;
Assert.IsFalse(rigidbody.CalculateDistance(pointDistanceInput));
Assert.IsFalse(rigidbody.CalculateDistance(pointDistanceInput, out closestHit));
Assert.IsFalse(rigidbody.CalculateDistance(pointDistanceInput, ref allHits));
}
static unsafe void CheckRaycastHit(ref Physics.PhysicsWorld world, RaycastInput input, RaycastHit hit, string failureMessage)
{
// Fetch the leaf collider
ChildCollider leaf;
{
Physics.RigidBody body = world.Bodies[hit.RigidBodyIndex];
Collider.GetLeafCollider(body.Collider, body.WorldFromBody, hit.ColliderKey, out leaf);
}
// Check that the hit position matches the fraction
float3 hitPosition = input.Ray.Origin + input.Ray.Direction * hit.Fraction;
Assert.Less(math.length(hitPosition - hit.Position), tolerance, failureMessage + ": inconsistent fraction and position");
// Query the hit position and check that it's on the surface of the shape
PointDistanceInput pointInput = new PointDistanceInput
{
Position = math.transform(math.inverse(leaf.TransformFromChild), hit.Position),
MaxDistance = float.MaxValue
};
DistanceHit distanceHit;
leaf.Collider->CalculateDistance(pointInput, out distanceHit);
if (((ConvexCollider *)leaf.Collider)->ConvexHull.ConvexRadius > 0.0f)
{
// Convex raycast approximates radius, so it's possible that the hit position is not exactly on the shape, but must at least be outside
Assert.Greater(distanceHit.Distance, -tolerance, failureMessage);
}
else
{
Assert.AreEqual(distanceHit.Distance, 0.0f, tolerance, failureMessage);
}
}
private JobHandle UpdateWithCollider2ColliderQuery(JobHandle inputDeps)
{
var physicsWorldSystem = World.DefaultGameObjectInjectionWorld.GetExistingSystem <BuildPhysicsWorld>();
var collisionWorld = physicsWorldSystem.PhysicsWorld.CollisionWorld;
// this is probably redundant but just for safety lets include all previous physics systems
inputDeps = JobHandle.CombineDependencies(inputDeps, finalPhysicsSystem.FinalJobHandle);
inputDeps = JobHandle.CombineDependencies(inputDeps, buildPhysicsSystem.FinalJobHandle);
inputDeps = JobHandle.CombineDependencies(inputDeps, stepPhysicsSystem.FinalJobHandle);
inputDeps = Entities.ForEach((Entity entity, ref EntitiesAroundCountCmp around, in Translation translation, in PhysicsCollider collider) =>
{
around.count = 0;
float3 offset = new float3(around.range, 1, around.range);
OverlapAabbInput input = new OverlapAabbInput()
{
Aabb = new Aabb()
{
Min = translation.Value - offset,
Max = translation.Value + offset,
},
Filter = CollisionFilter.Default
};
NativeList <int> bodyIndices = new NativeList <int>(Allocator.Temp);
// OverlapAabb is really nice and fast, all expected colliders are returned
if (collisionWorld.OverlapAabb(input, ref bodyIndices))
{
for (int i = 0; i < bodyIndices.Length; ++i)
{
var body = collisionWorld.Bodies[bodyIndices[i]];
// why this returns true for colliders in AABB instead of actual distance?
var colliderDistanceInput = new ColliderDistanceInput()
{
Collider = collider.ColliderPtr,
Transform = RigidTransform.identity,
MaxDistance = around.range
};
// why this always returns false?
var pointDistanceInput = new PointDistanceInput()
{
Filter = CollisionFilter.Default,
MaxDistance = around.range,
Position = translation.Value
};
if (body.CalculateDistance(pointDistanceInput))
{
++around.count;
}
}
}
bodyIndices.Dispose();
})
public bool CalculateDistance <T>(PointDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
// Transform the input into body space
MTransform worldFromBody = new MTransform(WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
input.Position = Mul(bodyFromWorld, input.Position);
SetQueryContextParameters(ref input.QueryContext, ref worldFromBody);
return(Collider.IsCreated && Collider.Value.CalculateDistance(input, ref collector));
}
public bool DistanceLeaf <T>(PointDistanceInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <DistanceHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
input.QueryContext.IsInitialized = true;
input.QueryContext.RigidBodyIndex = rigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
return(body.CalculateDistance(input, ref collector));
}
public static bool CalculateDistance <T>(ref T target, PointDistanceInput input, out DistanceHit result) where T : struct, ICollidable
{
var collector = new ClosestHitCollector <DistanceHit>(input.MaxDistance);
if (target.CalculateDistance(input, ref collector))
{
result = collector.ClosestHit; // TODO: would be nice to avoid this copy
return(true);
}
result = new DistanceHit();
return(false);
}
public unsafe void Execute(
Entity entity, int index,
[ReadOnly] ref PlayerTag tag,
//[ReadOnly] ref GroundHitColliderData hit,
[ReadOnly] ref Translation pos,
ref PhysicsVelocity v
)
{
var upf = 0.0f;
if (this.JumpForce > 0.0f)
{
//var hitInput = new ColliderCastInput
//{
// Collider = (Collider*)hit.Collider.GetUnsafePtr(),
// Orientation = quaternion.identity,
// Start = pos.Value + math.up() * 0.05f,
// End = pos.Value + math.up() * -0.1f,
//};
var hitInput = new PointDistanceInput
{
Position = pos.Value,
MaxDistance = 0.1f,
Filter = new CollisionFilter
{
BelongsTo = (1 << 20) | (1 << 22) | (1 << 23),
CollidesWith = (1 << 20) | (1 << 22) | (1 << 23),
GroupIndex = 0,
},
};
//var collector = new ExcludeEntityCollector
//{
// IgnoreEntity = entity,
// Rigidbodies = this.CollisionWorld.Bodies,
//};
var a = new NativeList <DistanceHit>(Allocator.Temp);
var isHit = this.CollisionWorld.CalculateDistance(hitInput, ref a);
if (isHit && a.Length > 1)
{
upf = this.JumpForce * 0.5f;
}
a.Dispose();
}
var vlinear = v.Linear;
var xyDir = math.rotate(this.CamRotWorld, this.StickDir) * this.DeltaTime * 170;
xyDir.y = vlinear.y + upf;
v.Linear = math.min(xyDir, new float3(10, 1000, 10));
}
public unsafe static void PointRange(CollisionWorld world, float radius, uint mask, float3 pos, ref NativeList <DistanceHit> hits)
{
PointDistanceInput input = new PointDistanceInput()
{
MaxDistance = radius,
Filter = new CollisionFilter()
{
CategoryBits = mask, MaskBits = mask, GroupIndex = 0
},
Position = pos
};
world.CalculateDistance(input, ref hits);
}
public static bool OverlapCircle(ISimGameWorldReadWriteAccessor accessor, fix2 position, fix radius, NativeList <DistanceHit> outHits, Entity ignoreEntity = default)
{
var physicsSystem = accessor.GetExistingSystem <PhysicsWorldSystem>();
PointDistanceInput pointDistanceInput = PointDistanceInput.Default;
pointDistanceInput.MaxDistance = (float)radius;
pointDistanceInput.Position = (float2)position;
if (ignoreEntity != Entity.Null)
{
pointDistanceInput.Ignore = new IgnoreHit(physicsSystem.GetPhysicsBodyIndex(ignoreEntity));
}
return(physicsSystem.PhysicsWorld.CalculateDistance(pointDistanceInput, ref outHits));
}
public bool CalculateDistance <T>(PointDistanceInput input, NativeArray <RigidBody> rigidBodies, ref T collector)
where T : struct, ICollector <DistanceHit>
{
if (input.Filter.IsEmpty)
{
return(false);
}
var leafProcessor = new BvhLeafProcessor(rigidBodies);
leafProcessor.BaseRigidBodyIndex = m_DynamicTree.NumBodies;
bool hasHit = m_StaticTree.BoundingVolumeHierarchy.Distance(input, ref leafProcessor, ref collector);
leafProcessor.BaseRigidBodyIndex = 0;
hasHit |= m_DynamicTree.BoundingVolumeHierarchy.Distance(input, ref leafProcessor, ref collector);
return(hasHit);
}
public void Execute(Entity ent, int index, [ReadOnly] ref Translation translation, ref Enemy enemy)
{
enemy.timer -= deltaTime;
var input = new PointDistanceInput()
{
MaxDistance = enemy.rangeDie,
Filter = new CollisionFilter()
{
CategoryBits = mask, MaskBits = mask, GroupIndex = 0
},
Position = translation.Value
};
DistanceHit hit;
if (world.CalculateDistance(input, out hit))
{
cmd.DestroyEntity(index, ent);
cmd.DestroyEntity(index, world.Bodies[hit.RigidBodyIndex].Entity);
var e = cmd.Instantiate(index, explosionPrefab);
cmd.SetComponent(index, e, new Translation()
{
Value = hit.Position
});
}
else if (enemy.timer < 0)
{
input.MaxDistance = enemy.rangeShoot;
if (world.CalculateDistance(input, out hit))
{
var dir = hit.Position - translation.Value;
dir *= enemy.rangeShoot / math.length(dir) * 0.5f;
cmd.DestroyEntity(index, world.Bodies[hit.RigidBodyIndex].Entity);
var e = cmd.Instantiate(index, lazerPrefab);
cmd.SetComponent(index, e, new Translation()
{
Value = translation.Value + dir
});
cmd.SetComponent(index, e, new Rotation()
{
Value = quaternion.RotateZ(math.atan2(dir.y, dir.x))
});
enemy.timer = enemy.cooldown;
}
}
}
protected override void OnUpdate()
{
Entities.ForEach((ref Proximity proximity, ref Translation translation, ref PhysicsCollider collider) =>
{
ref PhysicsWorld physicsWorld = ref World.DefaultGameObjectInjectionWorld.GetExistingSystem <BuildPhysicsWorld>().PhysicsWorld;
if (collider.Value.IsCreated)
{
var pointDistanceInput = new PointDistanceInput
{
Position = translation.Value,
MaxDistance = proximity.maxDistance,
Filter = collider.Value.Value.Filter
};
// Assign DistanceHit data to proximiy component
physicsWorld.CalculateDistance(pointDistanceInput, out proximity.distanceHit);
}
}).WithoutBurst().Run();
public void Execute(
Entity entity, int jobIndex,
[WriteOnly] ref WallHitResultData result,
[ReadOnly] ref GroundHitSphereData sphere,
[WriteOnly] ref Translation pos,
[WriteOnly] ref Rotation rot
)
{
//var rtf = new RigidTransform( rot.Value, pos.Value );
var hitInput = new PointDistanceInput
{
Position = pos.Value,//math.transform( rtf, sphere.Center ),
MaxDistance = sphere.Distance,
Filter = sphere.Filter,
};
//var isHit = this.CollisionWorld.CalculateDistance( hitInput, ref a );// 自身のコライダを除外できればシンプルになるんだが…
var collector = new ClosestHitExcludeSelfCollector <DistanceHit>(sphere.Distance, entity, this.MainEntities);
//var collector = new ClosestHitCollector<DistanceHit>( sphere.Distance );
var isHit = this.CollisionWorld.CalculateDistance(hitInput, ref collector);
if (collector.NumHits == 0)
{
return;
}
result.IsHit = true;
var n = collector.ClosestHit.SurfaceNormal;
var p = collector.ClosestHit.Position;
pos.Value = p + n * sphere.Distance;
var right = math.mul(rot.Value, new float3(1.0f, 0.0f, 0.0f));
var forward = math.cross(n, right);
var safe_forward = math.select(math.forward(rot.Value), forward, math.dot(right, n) > 0.001f);
rot.Value = quaternion.LookRotation(safe_forward, n);
}
public void Execute()
{
var pointDistanceInput = new PointDistanceInput
{
Position = transData.Value,
MaxDistance = laserData.range,
Filter = CollisionFilter.Default
};
if (collectAll)
{
physWorld.CalculateDistance(pointDistanceInput, ref distanceHits);
}
else
{
if (physWorld.CalculateDistance(pointDistanceInput, out Unity.Physics.DistanceHit hit))
{
distanceHits.Add(hit);
}
}
}
public void Execute(ref Translation translation)
{
NativeList <DistanceHit> hits = new NativeList <DistanceHit>(Allocator.Temp);
CollisionFilter targetFilter = new CollisionFilter()
{
BelongsTo = ~0u,
CollidesWith = 8u,
GroupIndex = 0
};
var pointDistanceInput = new PointDistanceInput {
Position = translation.Value,
MaxDistance = 50,
Filter = targetFilter
};
physicsWorld.CalculateDistance(pointDistanceInput, ref hits);
hits.Dispose();
}
public unsafe static bool PointRangeSingle2(CollisionWorld world, float radius, uint mask, float3 pos, out DistanceHit hit)
{
var rayCommands = new NativeArray <PointDistanceInput>(1, Allocator.TempJob);
var rayResults = new NativeArray <DistanceHit>(1, Allocator.TempJob);
rayCommands[0] = new PointDistanceInput()
{
MaxDistance = radius,
Filter = new CollisionFilter()
{
CategoryBits = mask, MaskBits = mask, GroupIndex = 0
},
Position = pos
};
var handle = PointRanges(world, rayCommands, rayResults);
handle.Complete();
hit = rayResults[0];
rayCommands.Dispose();
rayResults.Dispose();
return(hit.RigidBodyIndex != -1);
}
private void Start()
{
LightningBoltGraphicEntityPrefab = GameObjectConversionUtility.ConvertGameObjectHierarchy(MainReferences.lightningTowerManager.LightningBoltGraphicPrefab, GameDataManager.instance.Settings);
PhysicalBouncerEntityPrefab = GameObjectConversionUtility.ConvertGameObjectHierarchy(MainReferences.physicalTowerManager.PhysicalBouncerPrefab, GameDataManager.instance.Settings);
PhysicalBounderNoGraphicsEntityPrefab = GameObjectConversionUtility.ConvertGameObjectHierarchy(MainReferences.physicalTowerManager.PhysicalBouncerNoGraphicsPrefab, GameDataManager.instance.Settings);
EnemyDistanceHits = new NativeList <DistanceHit>(Allocator.Persistent);
BulletEnemyCollisionFilter = new CollisionFilter
{
BelongsTo = 1 << 1,
CollidesWith = 1
};
PointDistanceInput = new PointDistanceInput
{
Position = Vector3.zero,
MaxDistance = 0,
Filter = BulletEnemyCollisionFilter
};
}
protected override JobHandle OnUpdate(JobHandle inputDeps)
{
_stepPhysicsWorld.FinalJobHandle.Complete();
var distanceHit = new NativeList <DistanceHit>(1, Allocator.TempJob);
Entities.WithoutBurst()
.ForEach((Entity entity, ref PhysicsCastData physicsCastData, in Translation position,
in DistanceInputCommandData distanceInputCommandData) =>
{
var pointDistanceInput = new PointDistanceInput
{
Position = position.Value,
MaxDistance = distanceInputCommandData.maxDistance,
Filter = distanceInputCommandData.collision
};
var pointDistanceJobHandle = new PointDistanceJob
{
pointDistanceInput = pointDistanceInput,
physicsWorld = _physicsWorld,
distanceHits = distanceHit
}.Schedule();
pointDistanceJobHandle.Complete();
if (distanceHit.Length > 0)
{
physicsCastData.entity = distanceHit[0].Entity;
physicsCastData.hasTarget = true;
physicsCastData.status = Status.Targetable;
}
else
{
physicsCastData.hasTarget = false;
physicsCastData.status = Status.Idle;
}
})
public unsafe void Execute(
Entity entity, int index,
[WriteOnly] ref GroundHitResultData ground,
[ReadOnly] ref GroundHitSphereData sphere,
[ReadOnly] ref Translation pos,
[ReadOnly] ref Rotation rot
)
{
//var a = new NativeList<DistanceHit>( Allocator.Temp );
var rtf = new RigidTransform(rot.Value, pos.Value);
var hitInput = new PointDistanceInput
{
Position = math.transform(rtf, sphere.Center),
MaxDistance = sphere.Distance,
Filter = sphere.Filter,
};
//var isHit = this.CollisionWorld.CalculateDistance( hitInput, ref a );// 自身のコライダを除外できればシンプルになるんだが…
var collector = new AnyHitExcludeSelfCollector <DistanceHit>(sphere.Distance, entity, this.MainEntities);
var isHit = this.CollisionWorld.CalculateDistance(hitInput, ref collector);
//var castInput = new RaycastInput
//{
// Start = math.transform( rtf, sphere.Center ),
// End = math.transform( rtf, sphere.Center ) + ( math.up() * -sphere.Distance ),
// Filter = sphere.filter,
//};
//var collector = new AnyHitExcludeSelfCollector2( 1.0f, entity, this.CollisionWorld.Bodies );
//var isHit = this.CollisionWorld.CastRay( castInput, ref collector );
//ground = new GroundHitResultData { IsGround = ( isHit && a.Length > 1 ) };
//ground.IsGround = a.Length > 1;
ground.IsGround = collector.NumHits > 0;
//ground.IsGround = isHit;
//a.Dispose();
}
protected override unsafe void OnUpdate()
{
CollisionWorld collisionWorld = buildPhysicsWorld.PhysicsWorld.CollisionWorld;
CollisionFilter collisionFilter = new CollisionFilter()
{
BelongsTo = 1u << 0,
CollidesWith = 0u | (1u << 0) | (1u << 1),
GroupIndex = 0
};
Dependency = Entities.WithAll <AnimalTag>().ForEach((ref Translation translation, ref AnimalMovementData mvmtData, in PhysicsCollider collider, in Rotation rotation) => {
Unity.Collections.NativeList <DistanceHit> hits = new Unity.Collections.NativeList <DistanceHit>(Unity.Collections.Allocator.Temp);
float maxDist = 1f;
float3 fwd = translation.Value + (mvmtData.targetDirection * 0.25f);
// Tested in Unity 2020.1.0b10
//ColliderDistanceInput cdi = new ColliderDistanceInput()
//{
// Collider = collider.ColliderPtr,
// MaxDistance = maxDist,
// Transform = new RigidTransform(rotation.Value, translation.Value)
//};
PointDistanceInput pdi = new PointDistanceInput()
{
Filter = collisionFilter,
MaxDistance = maxDist,
Position = fwd
};
if (collisionWorld.CalculateDistance(pdi, ref hits))
{
DistanceHit closest = GetClosestHit(hits, maxDist);
if (closest.Distance > 0.00001)
{
float distance = closest.Distance;
float distanceFrac = 1 - (distance / maxDist);
distanceFrac = math.clamp(distanceFrac, 0.25f, 1f);
byte colliderTags = collisionWorld.Bodies[closest.RigidBodyIndex].CustomTags;
float dotProduct = 0f;
float angle = 0f;
bool avoid = false;
if (colliderTags == 1) // Collision with another animal
{
quaternion r = collisionWorld.Bodies[closest.RigidBodyIndex].WorldFromBody.rot;
float3 othersFwd = math.rotate(r, new float3(0f, 0f, 1f));
dotProduct = (float)(math.dot(mvmtData.targetDirection, math.normalize(othersFwd)));
if (dotProduct < -0.7f)
{
avoid = true;
angle = 5.846853f * distanceFrac; //- 25f degrees
}
else if (dotProduct >= -0.001f && dotProduct < 0.975f)
{
avoid = true;
angle = (0.436332f - math.acos(dotProduct)) * distanceFrac; // 25 degrees
}
}
else if (colliderTags == 2) // Collision with terrain
{
dotProduct = math.dot(mvmtData.targetDirection, math.normalize(closest.SurfaceNormal));
if (dotProduct < -0.1f)
{
avoid = true;
angle = -(1.570796f - math.acos(dotProduct)) * distanceFrac; //90 degrees -> parallel to surface normal
}
}
if (avoid)
{
quaternion newRotation = quaternion.RotateY(angle);
float3 newDirection = math.rotate(newRotation, mvmtData.direction);
newDirection = math.normalizesafe(newDirection);
mvmtData.targetDirection = newDirection;
}
}
}
hits.Dispose();
}).Schedule(Dependency);
public void Execute(
Entity entity,
int index,
ref VelocityComponent velocityComponent,
ref Translation translation
)
{
velocityComponent.timerCalcVelocity -= DeltaTime;
if (velocityComponent.timerCalcVelocity > 0)
{
return;
}
velocityComponent.timerCalcVelocity = tick;
var input = new PointDistanceInput
{
Position = translation.Value,
MaxDistance = cohesionRadius,
Filter = CollisionFilter
};
var closestHits = new NativeList <DistanceHit>(Allocator.Temp);
if (!CollisionWorld.CalculateDistance(input, ref closestHits))
{
closestHits.Dispose();
return;
}
if (closestHits.Length < 2)
{
closestHits.Dispose();
return;
}
velocityComponent.cohesion = float3.zero;
velocityComponent.separation = float3.zero;
velocityComponent.separationCount = 0;
velocityComponent.alignment = float3.zero;
for (int i = 0; i < closestHits.Length && i < maxBoids; i++)
{
var entityHit = CollisionWorld.Bodies[closestHits[i].RigidBodyIndex].Entity;
velocityComponent.vector = translation.Value - TranslationMapData[entityHit].Value;
velocityComponent.sqrMagnitude = Vector3.SqrMagnitude(velocityComponent.vector);
velocityComponent.cohesion += TranslationMapData[entityHit].Value;
velocityComponent.alignment += VelocityMapData[entityHit].velocity;
if (velocityComponent.sqrMagnitude > 0 && velocityComponent.sqrMagnitude < separationDistance2)
{
velocityComponent.separation += velocityComponent.vector / velocityComponent.sqrMagnitude;
velocityComponent.separationCount++;
}
}
velocityComponent.cohesion /= closestHits.Length > maxBoids ? maxBoids : closestHits.Length;
velocityComponent.cohesion = Vector3.ClampMagnitude(velocityComponent.cohesion - translation.Value, maxSpeed);
velocityComponent.cohesion *= cohesionCoefficient;
if (velocityComponent.separationCount > 0)
{
velocityComponent.separation /= velocityComponent.separationCount;
velocityComponent.separation = Vector3.ClampMagnitude(velocityComponent.separation, maxSpeed);
velocityComponent.separation *= separationCoefficient;
}
velocityComponent.alignment /= closestHits.Length > maxBoids ? maxBoids : closestHits.Length;
velocityComponent.alignment = Vector3.ClampMagnitude(velocityComponent.alignment, maxSpeed);
velocityComponent.alignment *= alignmentCoefficient;
velocityComponent.velocity = Vector3.ClampMagnitude(velocityComponent.cohesion + velocityComponent.separation + velocityComponent.alignment, maxSpeed);
closestHits.Dispose();
}
public static bool CalculateDistance <T>(ref T target, PointDistanceInput input, ref NativeList <DistanceHit> allHits) where T : struct, ICollidable
{
var collector = new AllHitsCollector <DistanceHit>(input.MaxDistance, ref allHits);
return(target.CalculateDistance(input, ref collector));
}
public bool CalculateDistance(PointDistanceInput input, ref NativeList <DistanceHit> allHits) => QueryWrappers.CalculateDistance(ref this, input, ref allHits);
public static bool CalculateDistance <T>(ref T target, PointDistanceInput input) where T : struct, ICollidable
{
var collector = new AnyHitCollector <DistanceHit>(input.MaxDistance);
return(target.CalculateDistance(input, ref collector));
}
public bool CalculateDistance <T>(PointDistanceInput input, ref T collector) where T : struct, ICollector <DistanceHit>
{
return(CollisionWorld.CalculateDistance(input, ref collector));
}