internal static void GetBakeTransformation(
this PhysicsShape shape, out float3 linearScalar, out float radiusScalar
)
{
linearScalar = shape.transform.lossyScale;
radiusScalar = 1f;
var s = math.abs(linearScalar);
switch (shape.ShapeType)
{
case ShapeType.Box:
radiusScalar = math.cmin(s);
break;
case ShapeType.Sphere:
radiusScalar = math.cmax(s);
break;
case ShapeType.Capsule:
var cmax = math.cmax(s);
var cmin = math.cmin(s);
var cmaxI = cmax == s.z ? 2 : cmax == s.y ? 1 : 0;
var cminI = cmin == s.z ? 2 : cmin == s.y ? 1 : 0;
var cmidI = cmaxI == 2 ? (cminI == 1 ? 0 : 1) : (cminI == 1 ? 2 : 0);
radiusScalar = s[cmidI];
break;
case ShapeType.Cylinder:
radiusScalar = math.cmax(s);
break;
case ShapeType.ConvexHull:
radiusScalar = math.cmax(s);
break;
case ShapeType.Plane:
case ShapeType.Mesh:
break;
default:
throw new UnimplementedShapeException(shape.ShapeType);
}
}
internal static GameObject GetPrimaryBody(this PhysicsShape shape) => GetPrimaryBody(shape.gameObject);