internal static void GetBakedConvexProperties(
this PhysicsShapeAuthoring shape, NativeList <float3> pointCloud, out ConvexHullGenerationParameters generationParameters,
out Hash128 hashedInputs
)
{
using (var inputs = new NativeList <HashableShapeInputs>(8, Allocator.TempJob))
using (var allSkinIndices = new NativeList <int>(4096, Allocator.TempJob))
using (var allBlendShapeWeights = new NativeList <float>(64, Allocator.TempJob))
{
shape.GetConvexHullProperties(pointCloud, true, inputs, allSkinIndices, allBlendShapeWeights);
shape.BakePoints(pointCloud);
// compute convex radius
var center = float3.zero;
var orientation = EulerAngles.Default;
var localToWorld = shape.transform.localToWorldMatrix;
var shapeToWorld = shape.GetShapeToWorldMatrix();
var bakeToShape =
GetPrimitiveBakeToShapeMatrix(localToWorld, shapeToWorld, ref center, ref orientation, 1f, k_DefaultAxisPriority);
using (var aabb = new NativeArray <Aabb>(1, Allocator.TempJob))
{
new GetAabbJob {
Points = pointCloud, Aabb = aabb
}.Run();
HashableShapeInputs.GetQuantizedTransformations(bakeToShape, aabb[0], out bakeToShape);
}
var s = new float3(math.length(bakeToShape[0]), math.length(bakeToShape[1]), math.length(bakeToShape[2]));
generationParameters = shape.ConvexHullGenerationParameters;
generationParameters.SimplificationTolerance = math.max(
ConvexHullGenerationParametersExtensions.k_MinRecommendedSimplificationTolerance,
math.cmax(s) * generationParameters.SimplificationTolerance
);
generationParameters.BevelRadius *= math.cmin(s);
using (var hash = new NativeArray <Hash128>(1, Allocator.TempJob))
{
var job = new GetShapeInputsHashJob
{
Result = hash,
ForceUniqueIdentifier = (uint)(shape.ForceUnique ? shape.GetInstanceID() : 0),
GenerationParameters = generationParameters,
Material = shape.GetMaterial(),
CollisionFilter = shape.GetFilter(),
BakeFromShape = shape.GetLocalToShapeMatrix(),
Inputs = inputs,
AllSkinIndices = allSkinIndices,
AllBlendShapeWeights = allBlendShapeWeights
};
job.Run();
hashedInputs = hash[0];
}
}
}
public void Execute(int index)
{
var shapeData = ComputationData[index];
var material = shapeData.Material;
var collisionFilter = shapeData.CollisionFilter;
var shapeType = shapeData.ShapeType;
var builder = new SpookyHashBuilder(Allocator.Temp);
builder.Append(ref shapeType);
builder.Append(ref shapeData.ForceUniqueIdentifier);
builder.Append(ref collisionFilter);
builder.Append(ref material);
switch (shapeType)
{
case ShapeType.Box:
{
var p = shapeData.BoxProperties;
builder.Append(ref p);
var aabb = RotatedBoxAabb(p.Center, p.Size, shapeData.BoxProperties.Orientation);
HashableShapeInputs.GetQuantizedTransformations(shapeData.BodyFromShape, aabb, out var transformations);
builder.Append(ref transformations);
break;
}
case ShapeType.Capsule:
{
var p = shapeData.CapsuleProperties;
builder.Append(ref p);
var v0 = p.Vertex0;
var v1 = p.Vertex1;
var r = p.Radius;
var aabb = RotatedCylinderAabb(p.GetCenter(), p.GetHeight(), r, quaternion.LookRotationSafe(v0 - v1, math.up()));
HashableShapeInputs.GetQuantizedTransformations(shapeData.BodyFromShape, aabb, out var transformations);
builder.Append(ref transformations);
break;
}
case ShapeType.Cylinder:
{
var p = shapeData.CylinderProperties;
builder.Append(ref p);
var aabb = RotatedCylinderAabb(p.Center, p.Height, p.Radius, shapeData.CylinderProperties.Orientation);
HashableShapeInputs.GetQuantizedTransformations(shapeData.BodyFromShape, aabb, out var transformations);
builder.Append(ref transformations);
break;
}
case ShapeType.Plane:
{
var v = shapeData.PlaneVertices;
builder.Append(ref v);
var planeCenter = math.lerp(v.c0, v.c2, 0.5f);
var planeSize = math.abs(v.c0 - v.c2);
var aabb = RotatedBoxAabb(planeCenter, planeSize, quaternion.LookRotationSafe(v.c1 - v.c2, math.cross(v.c1 - v.c0, v.c2 - v.c1)));
HashableShapeInputs.GetQuantizedTransformations(shapeData.BodyFromShape, aabb, out var transformations);
builder.Append(ref transformations);
break;
}
case ShapeType.Sphere:
{
var p = shapeData.SphereProperties;
builder.Append(ref p);
var aabb = new Aabb {
Min = p.Center - new float3(p.Radius), Max = p.Center + new float3(p.Radius)
};
HashableShapeInputs.GetQuantizedTransformations(shapeData.BodyFromShape, aabb, out var transformations);
builder.Append(ref transformations);
break;
}
case ShapeType.ConvexHull:
{
Hashes[index] = shapeData.Instance.Hash; // precomputed when gathering inputs
return;
}
case ShapeType.Mesh:
{
Hashes[index] = shapeData.Instance.Hash; // precomputed when gathering inputs
return;
}
}
Hashes[index] = builder.Finish();
}
