public static void Contacts(int particleIndex,
int colliderIndex,
float4 particlePosition,
quaternion particleOrientation,
float4 particleVelocity,
float4 particleRadii,
float deltaTime,
ref NativeArray <BIHNode> bihNodes,
ref NativeArray <Edge> edges,
ref NativeArray <float2> vertices,
EdgeMeshHeader header,
ref BurstAffineTransform colliderToSolver,
ref BurstColliderShape shape,
NativeQueue <BurstContact> .ParallelWriter contacts)
{
float4 colliderSpacePosition = colliderToSolver.InverseTransformPoint(particlePosition);
float4 colliderSpaceVel = colliderToSolver.InverseTransformVector(particleVelocity * deltaTime);
BurstAabb particleBounds = new BurstAabb(colliderSpacePosition,
colliderSpacePosition + colliderSpaceVel,
particleRadii.x / math.cmax(colliderToSolver.scale));
colliderSpacePosition *= colliderToSolver.scale;
BIHTraverse(particleIndex, colliderIndex,
colliderSpacePosition, particleOrientation, colliderSpaceVel, particleRadii, ref particleBounds,
0, ref bihNodes, ref edges, ref vertices, ref header, ref colliderToSolver, ref shape, contacts);
}
public static float4 GetRigidbodyVelocityAtPoint(int rigidbodyIndex,
float4 point,
NativeArray <BurstRigidbody> rigidbodies,
NativeArray <float4> linearDeltas,
NativeArray <float4> angularDeltas,
BurstAffineTransform transform)
{
float4 linear = rigidbodies[rigidbodyIndex].velocity + linearDeltas[rigidbodyIndex];
float4 angular = rigidbodies[rigidbodyIndex].angularVelocity + angularDeltas[rigidbodyIndex];
float4 r = transform.TransformPoint(point) - rigidbodies[rigidbodyIndex].com;
// Point is assumed to be expressed in solver space. Since rigidbodies are expressed in world space, we need to convert the
// point to world space, and convert the resulting velocity back to solver space.
return(transform.InverseTransformVector(linear + new float4(math.cross(angular.xyz, r.xyz), 0)));
}
public static float4 GetRigidbodyVelocityAtPoint(BurstRigidbody rigidbody, float4 point, float4 linearDelta, float4 angularDelta, BurstAffineTransform transform)
{
// Point is assumed to be expressed in solver space. Since rigidbodies are expressed in world space, we need to convert the
// point to world space, and convert the resulting velocity back to solver space.
return(transform.InverseTransformVector(rigidbody.GetVelocityAtPoint(transform.TransformPoint(point), linearDelta, angularDelta)));
}
