public bool IsChildActiveAndBelongsToShape(T child, bool filterOutInvalid = true)
{
var meshFilter = (UnityComponent)child as MeshFilter;
if (meshFilter != null)
{
if (meshFilter.sharedMesh == null)
{
return(false);
}
var renderer = meshFilter.GetComponent <MeshRenderer>();
if (renderer == null || !renderer.enabled)
{
return(false);
}
if (filterOutInvalid && !meshFilter.sharedMesh.IsValidForConversion(m_Shape.gameObject))
{
return(false);
}
}
if (m_CheckIfComponentBelongsToShape)
{
if (PhysicsShapeExtensions.GetPrimaryBody(child.gameObject) != m_PrimaryBody)
{
return(false);
}
child.gameObject.GetComponentsInParent(true, s_PhysicsShapes);
if (s_PhysicsShapes[0] != m_Shape)
{
s_PhysicsShapes.Clear();
return(false);
}
}
// do not simply use GameObject.activeInHierarchy because it will be false when instantiating a prefab
var t = child.transform;
var activeInHierarchy = t.gameObject.activeSelf;
while (activeInHierarchy && t != m_Root)
{
t = t.parent;
activeInHierarchy &= t.gameObject.activeSelf;
}
return(activeInHierarchy);
}
public GetActiveChildrenScope(PhysicsShapeAuthoring shape, Transform root)
{
m_Disposed = false;
m_Shape = shape;
m_Root = root;
m_PrimaryBody = PhysicsShapeExtensions.GetPrimaryBody(root.gameObject);
m_CheckIfComponentBelongsToShape = root.transform.IsChildOf(shape.transform);
if (s_BufferUsed)
{
throw new InvalidOperationException($"Cannot nest two {GetType()}");
}
s_BufferUsed = true;
root.GetComponentsInChildren(true, s_Buffer);
}
static void GetQuantizedTransformations(
float4x4 leafToBody, Aabb bounds,
out float3 translation, out quaternion orientationQ, out float3 scale, out float3x3 shear,
float linearPrecision = k_DefaultLinearPrecision
)
{
translation = RoundToNearest(leafToBody.c3.xyz, linearPrecision);
var farthestPoint =
math.abs(math.lengthsq(bounds.Max) > math.lengthsq(bounds.Min) ? bounds.Max : bounds.Min);
// round scale using precision inversely proportional to mesh size along largest axis
// (i.e. amount to scale farthest point one unit of linear precision)
var scalePrecision = linearPrecision / math.max(math.cmax(farthestPoint), math.FLT_MIN_NORMAL);
scale = RoundToNearest(leafToBody.DecomposeScale(), scalePrecision);
if (math.determinant(leafToBody) < 0f)
{
scale.x *= -1f;
}
shear = new float3x3(
leafToBody.c0.xyz / math.max(math.abs(scale.x), math.FLT_MIN_NORMAL) * math.sign(scale.x),
leafToBody.c1.xyz / math.max(math.abs(scale.y), math.FLT_MIN_NORMAL) * math.sign(scale.y),
leafToBody.c2.xyz / math.max(math.abs(scale.z), math.FLT_MIN_NORMAL) * math.sign(scale.z)
);
var orientation = float3x3.LookRotationSafe(shear.c2, shear.c1);
// if shear is very nearly identity, hash it as identity
// TODO: quantize shear
shear = math.mul(shear, math.inverse(orientation));
if (!PhysicsShapeExtensions.HasShear(new float4x4(shear, 0f)))
{
shear = float3x3.identity;
}
// round orientation using precision inversely proportional to scaled mesh size
// (i.e. radians to rotate farthest scaled point one unit of linear precision)
var angularPrecision = math.min(linearPrecision / math.length(farthestPoint * scale), math.PI);
var axisPrecision = math.min(math.cos(angularPrecision), math.sin(angularPrecision));
orientation.c0 = math.normalize(RoundToNearest(orientation.c0, axisPrecision));
orientation.c1 = math.normalize(RoundToNearest(orientation.c1, axisPrecision));
orientation.c2 = math.normalize(RoundToNearest(orientation.c2, axisPrecision));
translation = Sanitize(translation);
orientationQ = new quaternion(Sanitize(orientation));
scale = Sanitize(scale);
shear = Sanitize(shear);
}
internal override ShapeComputationData GenerateComputationData(
PhysicsShapeAuthoring shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles
)
{
var res = new ShapeComputationData();
res.Instance = colliderInstance;
res.Material = ProduceMaterial(shape);
res.CollisionFilter = ProduceCollisionFilter(shape);
res.ForceUniqueIdentifier = shape.ForceUnique ? (uint)shape.GetInstanceID() : 0u;
var transform = shape.transform;
var localToWorld = transform.localToWorldMatrix;
var shapeToWorld = shape.GetShapeToWorldMatrix();
EulerAngles orientation;
res.ShapeType = shape.ShapeType;
switch (shape.ShapeType)
{
case ShapeType.Box:
{
res.BoxProperties = shape.GetBoxProperties(out orientation)
.BakeToBodySpace(localToWorld, shapeToWorld, orientation);
break;
}
case ShapeType.Capsule:
{
res.CapsuleProperties = shape.GetCapsuleProperties()
.BakeToBodySpace(localToWorld, shapeToWorld)
.ToRuntime();
break;
}
case ShapeType.Sphere:
{
res.SphereProperties = shape.GetSphereProperties(out orientation)
.BakeToBodySpace(localToWorld, shapeToWorld, ref orientation);
break;
}
case ShapeType.Cylinder:
{
res.CylinderProperties = shape.GetCylinderProperties(out orientation)
.BakeToBodySpace(localToWorld, shapeToWorld, orientation);
break;
}
case ShapeType.Plane:
{
shape.GetPlaneProperties(out var center, out var size, out orientation);
PhysicsShapeExtensions.BakeToBodySpace(
center, size, orientation, localToWorld, shapeToWorld,
out res.PlaneVertices.c0, out res.PlaneVertices.c1, out res.PlaneVertices.c2, out res.PlaneVertices.c3
);
break;
}
case ShapeType.ConvexHull:
{
res.ConvexHullProperties.Filter = res.CollisionFilter;
res.ConvexHullProperties.Material = res.Material;
res.ConvexHullProperties.GenerationParameters = shape.ConvexHullGenerationParameters.ToRunTime();
res.Instance.Hash = shape.GetBakedConvexInputs();
if (BlobComputationContext.NeedToComputeBlobAsset(res.Instance.Hash))
{
if (TryGetRegisteredConvexInputs(res.Instance.Hash, out var convexInputs))
{
res.ConvexHullProperties.PointCount = convexInputs.PointCount;
res.ConvexHullProperties.PointsStart = convexInputs.PointsStart;
}
else
{
using (var pointCloud = new NativeList <float3>(65535, Allocator.Temp))
{
shape.GetBakedConvexProperties(pointCloud);
if (pointCloud.Length == 0)
{
throw new InvalidOperationException(
$"No vertices associated with {shape.name}. Add a {typeof(MeshFilter)} component or assign a readable {nameof(PhysicsShapeAuthoring.CustomMesh)}."
);
}
res.ConvexHullProperties.PointCount = pointCloud.Length;
res.ConvexHullProperties.PointsStart = allConvexHullPoints.Length;
allConvexHullPoints.AddRange(pointCloud);
}
}
}
break;
}
case ShapeType.Mesh:
{
res.MeshProperties.Filter = res.CollisionFilter;
res.MeshProperties.Material = res.Material;
res.Instance.Hash = shape.GetBakedMeshInputs();
if (BlobComputationContext.NeedToComputeBlobAsset(res.Instance.Hash))
{
if (TryGetRegisteredMeshInputs(res.Instance.Hash, out var meshInputs))
{
res.MeshProperties.VerticesStart = meshInputs.VerticesStart;
res.MeshProperties.VertexCount = meshInputs.VertexCount;
res.MeshProperties.TrianglesStart = meshInputs.TrianglesStart;
res.MeshProperties.TriangleCount = meshInputs.TriangleCount;
}
else
{
const int defaultVertexCount = 2048;
using (var vertices = new NativeList <float3>(defaultVertexCount, Allocator.Temp))
using (var triangles = new NativeList <int3>(defaultVertexCount - 2, Allocator.Temp))
{
shape.GetBakedMeshProperties(vertices, triangles);
if (vertices.Length == 0 || triangles.Length == 0)
{
throw new InvalidOperationException(
$"Invalid mesh data associated with {shape.name}. " +
$"Add a {typeof(MeshFilter)} component or assign a {nameof(PhysicsShapeAuthoring.CustomMesh)}. " +
"Ensure that you have enabled Read/Write on the mesh's import settings."
);
}
res.MeshProperties.VerticesStart = allMeshVertices.Length;
res.MeshProperties.VertexCount = vertices.Length;
res.MeshProperties.TrianglesStart = allMeshTriangles.Length;
res.MeshProperties.TriangleCount = triangles.Length;
allMeshVertices.AddRange(vertices);
allMeshTriangles.AddRange(triangles);
}
}
}
break;
}
}
return(res);
}