internal override ShapeComputationData GenerateComputationData(
LegacyBox shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles
)
{
var res = base.GenerateComputationData(shape, colliderInstance, allConvexHullPoints, allMeshVertices, allMeshTriangles);
res.ShapeType = ShapeType.Box;
var shapeLocalToWorld = shape.transform.localToWorldMatrix;
var worldCenter = math.mul(shapeLocalToWorld, new float4(shape.center, 1f));
var transformRotation = shape.transform.rotation;
var rigidBodyTransform = Math.DecomposeRigidBodyTransform(shapeLocalToWorld);
var shapeFromWorld = math.inverse(new float4x4(rigidBodyTransform));
var orientationFixup = math.inverse(math.mul(math.inverse(transformRotation), rigidBodyTransform.rot));
var geometry = new BoxGeometry
{
Center = math.mul(shapeFromWorld, worldCenter).xyz,
Orientation = orientationFixup
};
var linearScale = float4x4.TRS(float3.zero, math.inverse(orientationFixup), shape.transform.lossyScale).DecomposeScale();
geometry.Size = math.abs(shape.size * linearScale);
geometry.BevelRadius = math.min(ConvexHullGenerationParameters.Default.BevelRadius, math.cmin(geometry.Size) * 0.5f);
res.BoxProperties = geometry;
return(res);
}
internal override ShapeComputationData GenerateComputationData(
LegacySphere shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles
)
{
var res = base.GenerateComputationData(shape, colliderInstance, allConvexHullPoints, allMeshVertices, allMeshTriangles);
res.ShapeType = ShapeType.Sphere;
var shapeLocalToWorld = shape.transform.localToWorldMatrix;
var worldCenter = math.mul(shapeLocalToWorld, new float4(shape.center, 1f));
var transformRotation = shape.transform.rotation;
var rigidBodyTransform = Math.DecomposeRigidBodyTransform(shapeLocalToWorld);
var orientationFixup = math.inverse(math.mul(math.inverse(transformRotation), rigidBodyTransform.rot));
var shapeFromWorld = math.inverse(new float4x4(rigidBodyTransform));
var center = math.mul(shapeFromWorld, worldCenter).xyz;
var linearScale = float4x4.TRS(float3.zero, math.inverse(orientationFixup), shape.transform.lossyScale).DecomposeScale();
var radius = shape.radius * math.cmax(math.abs(linearScale));
res.SphereProperties = new SphereGeometry {
Center = center, Radius = radius
};
return(res);
}
void GetInputDataFromAuthoringComponent(T shape)
{
if (!ShouldConvertShape(shape))
{
return;
}
var body = GetPrimaryBody(shape);
var instance = new ColliderInstance
{
AuthoringComponentId = shape.GetInstanceID(),
BodyEntity = GetPrimaryEntity(body),
ShapeEntity = GetPrimaryEntity(shape),
BodyFromShape = ColliderInstance.GetCompoundFromChild(shape.transform, body.transform)
};
var data = GenerateComputationData(shape, instance, m_ConvexColliderPoints, m_MeshColliderVertices, m_MeshColliderTriangles);
data.Instance.ConvertedAuthoringComponentIndex = m_EndColliderConversionSystem.PushAuthoringComponent(shape);
data.Instance.ConvertedBodyTransformIndex = m_EndColliderConversionSystem.PushAuthoringComponent(body.transform);
m_ShapeComputationData.Add(data);
if (body == shape.gameObject)
{
DstEntityManager.RemoveParentAndSetWorldTranslationAndRotation(instance.BodyEntity, body.transform);
}
}
internal override ShapeComputationData GenerateComputationData(
LegacyCapsule shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles
)
{
var res = base.GenerateComputationData(shape, colliderInstance, allConvexHullPoints, allMeshVertices, allMeshTriangles);
res.ShapeType = ShapeType.Capsule;
var linearScale = (float3)shape.transform.lossyScale;
// radius is max of the two non-height axes
var radius = shape.radius * math.cmax(new float3(math.abs(linearScale))
{
[shape.direction] = 0f
});
var ax = new float3 {
[shape.direction] = 1f
};
var vertex = ax * (0.5f * shape.height);
var rt = new RigidTransform(shape.transform.rotation, shape.transform.position);
var worldCenter = math.mul(shape.transform.localToWorldMatrix, new float4(shape.center, 0f));
var offset = math.mul(math.inverse(new float4x4(rt)), worldCenter).xyz - shape.center * math.abs(linearScale);
var v0 = offset + ((float3)shape.center + vertex) * math.abs(linearScale) - ax * radius;
var v1 = offset + ((float3)shape.center - vertex) * math.abs(linearScale) + ax * radius;
res.CapsuleProperties = new CapsuleGeometry {
Vertex0 = v0, Vertex1 = v1, Radius = radius
};
return(res);
}
internal override ShapeComputationData GenerateComputationData(
LegacyBox shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles
)
{
var res = base.GenerateComputationData(shape, colliderInstance, allConvexHullPoints, allMeshVertices, allMeshTriangles);
res.ShapeType = ShapeType.Box;
var worldCenter = math.mul(shape.transform.localToWorldMatrix, new float4(shape.center, 1f));
var shapeFromWorld = math.inverse(
new float4x4(new RigidTransform(shape.transform.rotation, shape.transform.position))
);
var geometry = new BoxGeometry
{
Center = math.mul(shapeFromWorld, worldCenter).xyz,
Orientation = quaternion.identity
};
var linearScale = (float3)shape.transform.lossyScale;
geometry.Size = math.abs(shape.size * linearScale);
geometry.BevelRadius = math.min(ConvexHullGenerationParameters.Default.BevelRadius, math.cmin(geometry.Size) * 0.5f);
res.BoxProperties = geometry;
return(res);
}
internal override ShapeComputationData GenerateComputationData(
T shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles
)
{
return(new ShapeComputationData
{
Instance = colliderInstance,
Material = ProduceMaterial(shape),
CollisionFilter = ProduceCollisionFilter(shape)
});
}
internal override ShapeComputationData GenerateComputationData(
LegacyMesh shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles,
HashSet <UnityEngine.Mesh> meshAssets
)
{
if (shape.sharedMesh == null)
{
throw new InvalidOperationException(
$"No {nameof(LegacyMesh.sharedMesh)} assigned to {typeof(MeshCollider)} on {shape.name}."
);
}
if (!shape.sharedMesh.IsValidForConversion(shape.gameObject))
{
throw new InvalidOperationException(
$"Mesh '{shape.sharedMesh}' assigned to {typeof(MeshCollider)} on {shape.name} is not readable. Ensure that you have enabled Read/Write on its import settings."
);
}
meshAssets.Add(shape.sharedMesh);
var res = base.GenerateComputationData(shape, colliderInstance, allConvexHullPoints, allMeshVertices, allMeshTriangles, meshAssets);
if (shape.convex)
{
res.ShapeType = ShapeType.ConvexHull;
res.ConvexHullProperties.Material = res.Material;
res.ConvexHullProperties.Filter = res.CollisionFilter;
res.ConvexHullProperties.GenerationParameters = ConvexHullGenerationParameters.Default;
}
else
{
res.ShapeType = ShapeType.Mesh;
res.MeshProperties.Material = res.Material;
res.MeshProperties.Filter = res.CollisionFilter;
res.ConvexHullProperties.GenerationParameters = default;
}
var transform = shape.transform;
var rigidBodyTransform = Math.DecomposeRigidBodyTransform(transform.localToWorldMatrix);
var bakeFromShape = math.mul(math.inverse(new float4x4(rigidBodyTransform)), transform.localToWorldMatrix);
res.Instance.Hash = HashableShapeInputs.GetHash128(
0u,
res.ConvexHullProperties.GenerationParameters,
res.Material,
res.CollisionFilter,
bakeFromShape,
new NativeArray <HashableShapeInputs>(1, Allocator.Temp)
{
[0] = HashableShapeInputs.FromMesh(shape.sharedMesh, float4x4.identity)
},
void GetInputDataFromAuthoringComponent(T shape)
{
var body = GetPrimaryBody(shape);
var instance = new ColliderInstance
{
AuthoringComponentId = shape.GetInstanceID(),
BodyEntity = GetPrimaryEntity(body),
ShapeEntity = GetPrimaryEntity(shape),
BodyFromShape = ColliderInstance.GetCompoundFromChild(shape.transform, body.transform)
};
var data = GenerateComputationData(shape, instance, m_ConvexColliderPoints, m_MeshColliderVertices, m_MeshColliderTriangles, m_MeshAssets);
data.Instance.ConvertedAuthoringComponentIndex = m_EndColliderConversionSystem.PushAuthoringComponent(shape);
data.Instance.ConvertedBodyTransformIndex = m_EndColliderConversionSystem.PushAuthoringComponent(body.transform);
m_ShapeComputationData.Add(data);
if (BlobComputationContext.NeedToComputeBlobAsset(data.Instance.Hash))
{
if (data.ShapeType == ShapeType.ConvexHull)
{
m_ConvexColliderJobs.TryAdd(data.Instance.Hash, data.ConvexHullProperties);
}
else if (data.ShapeType == ShapeType.Mesh)
{
m_MeshColliderJobs.TryAdd(data.Instance.Hash, data.MeshProperties);
}
}
foreach (var mesh in m_MeshAssets)
{
if (mesh != null)
{
DeclareAssetDependency(shape.gameObject, mesh);
}
}
m_MeshAssets.Clear();
if (body == shape.gameObject)
{
DstEntityManager.PostProcessTransformComponents(instance.BodyEntity, body.transform, BodyMotionType.Static);
}
}
internal override ShapeComputationData GenerateComputationData(
LegacyCapsule shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles,
HashSet <UnityEngine.Mesh> meshAssets
)
{
var res = base.GenerateComputationData(shape, colliderInstance, allConvexHullPoints, allMeshVertices, allMeshTriangles, meshAssets);
res.ShapeType = ShapeType.Capsule;
var shapeLocalToWorld = (float4x4)shape.transform.localToWorldMatrix;
var transformRotation = shape.transform.rotation;
var rigidBodyTransform = Math.DecomposeRigidBodyTransform(shapeLocalToWorld);
var orientationFixup = math.inverse(math.mul(math.inverse(transformRotation), rigidBodyTransform.rot));
var linearScale = float4x4.TRS(float3.zero, math.inverse(orientationFixup), shape.transform.lossyScale).DecomposeScale();
// radius is max of the two non-height axes
var radius = shape.radius * math.cmax(new float3(math.abs(linearScale))
{
[shape.direction] = 0f
});
var ax = new float3 {
[shape.direction] = 1f
};
var vertex = ax * (0.5f * shape.height);
var worldCenter = math.mul(shapeLocalToWorld, new float4(shape.center, 0f));
var offset = math.mul(math.inverse(new float4x4(rigidBodyTransform)), worldCenter).xyz - shape.center * math.abs(linearScale);
var v0 = math.mul(orientationFixup, offset + ((float3)shape.center + vertex) * math.abs(linearScale) - ax * radius);
var v1 = math.mul(orientationFixup, offset + ((float3)shape.center - vertex) * math.abs(linearScale) + ax * radius);
res.CapsuleProperties = new CapsuleGeometry {
Vertex0 = v0, Vertex1 = v1, Radius = radius
};
return(res);
}
internal override ShapeComputationData GenerateComputationData(
LegacySphere shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles
)
{
var res = base.GenerateComputationData(shape, colliderInstance, allConvexHullPoints, allMeshVertices, allMeshTriangles);
res.ShapeType = ShapeType.Sphere;
var worldCenter = math.mul(shape.transform.localToWorldMatrix, new float4(shape.center, 1f));
var shapeFromWorld = math.inverse(
new float4x4(new RigidTransform(shape.transform.rotation, shape.transform.position))
);
var center = math.mul(shapeFromWorld, worldCenter).xyz;
var linearScale = (float3)shape.transform.lossyScale;
var radius = shape.radius * math.cmax(math.abs(linearScale));
res.SphereProperties = new SphereGeometry {
Center = center, Radius = radius
};
return(res);
}
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);
}
internal void SetLeafDirty(ColliderInstance leaf) => m_ChangedLeavesByBody.Add(leaf.BodyEntity, leaf);
internal abstract ShapeComputationData GenerateComputationData(
T shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles,
HashSet <UnityMesh> meshAssets
);
internal override ShapeComputationData GenerateComputationData(
LegacyMesh shape, ColliderInstance colliderInstance,
NativeList <float3> allConvexHullPoints, NativeList <float3> allMeshVertices, NativeList <int3> allMeshTriangles
)
{
if (shape.sharedMesh == null)
{
throw new InvalidOperationException(
$"No {nameof(LegacyMesh.sharedMesh)} assigned to {typeof(MeshCollider)} on {shape.name}."
);
}
if (!shape.sharedMesh.IsValidForConversion(shape.gameObject))
{
throw new InvalidOperationException(
$"Mesh '{shape.sharedMesh}' assigned to {typeof(MeshCollider)} on {shape.name} is not readable. Ensure that you have enabled Read/Write on its import settings."
);
}
var res = base.GenerateComputationData(shape, colliderInstance, allConvexHullPoints, allMeshVertices, allMeshTriangles);
shape.sharedMesh.GetVertices(m_Vertices);
var shapeFromWorld = math.inverse(
new float4x4(new RigidTransform(shape.transform.rotation, shape.transform.position))
);
var pointCloud = new NativeList <float3>(shape.sharedMesh.vertexCount, Allocator.Temp);
for (int i = 0, count = m_Vertices.Count; i < count; ++i)
{
var worldPt = math.mul(shape.transform.localToWorldMatrix, new float4(m_Vertices[i], 1f));
pointCloud.Add(math.mul(shapeFromWorld, worldPt).xyz);
}
if (shape.convex)
{
res.ShapeType = ShapeType.ConvexHull;
res.ConvexHullProperties = new ConvexInput
{
GenerationParameters = ConvexHullGenerationParameters.Default,
PointsStart = allConvexHullPoints.Length,
PointCount = pointCloud.Length,
Filter = res.CollisionFilter,
Material = res.Material
};
allConvexHullPoints.AddRange(pointCloud);
}
else
{
var indices = new NativeArray <int>(shape.sharedMesh.triangles, Allocator.Temp);
var triangles = indices.Reinterpret <int3>(UnsafeUtility.SizeOf <int>());
if (pointCloud.Length == 0 || triangles.Length == 0)
{
throw new InvalidOperationException(
$"Invalid mesh data associated with {shape.name}. " +
"Ensure that you have enabled Read/Write on the mesh's import settings."
);
}
res.ShapeType = ShapeType.Mesh;
res.MeshProperties = new MeshInput
{
VerticesStart = allMeshVertices.Length,
VertexCount = pointCloud.Length,
TrianglesStart = allMeshTriangles.Length,
TriangleCount = triangles.Length,
Filter = res.CollisionFilter,
Material = res.Material
};
allMeshVertices.AddRange(pointCloud);
allMeshTriangles.AddRange(triangles);
}
return(res);
}
