private unsafe int BuildBoundingVolume(out NativeArray <BoundingVolumeHierarchy.Node> nodes)
{
// Create inputs
var points = new NativeArray <BoundingVolumeHierarchy.PointAndIndex>(NumChildren, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var aabbs = new NativeArray <Aabb>(NumChildren, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
for (int i = 0; i < NumChildren; ++i)
{
points[i] = new BoundingVolumeHierarchy.PointAndIndex {
Position = Children[i].CompoundFromChild.pos, Index = i
};
aabbs[i] = Children[i].Collider->CalculateAabb(Children[i].CompoundFromChild);
}
// Build BVH
// Todo: cleanup, better size of nodes array
nodes = new NativeArray <BoundingVolumeHierarchy.Node>(2 + NumChildren, Allocator.Temp, NativeArrayOptions.UninitializedMemory)
{
[0] = BoundingVolumeHierarchy.Node.Empty,
[1] = BoundingVolumeHierarchy.Node.Empty
};
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.Build(points, aabbs, out int numNodes);
return(numNodes);
}
internal static unsafe void ExecuteImpl(int2 pair, Tree staticTree, Tree dynamicTree, ref NativeStream.Writer pairWriter)
{
var staticBvh = new BoundingVolumeHierarchy(staticTree.Nodes, staticTree.NodeFilters);
var dynamicBvh = new BoundingVolumeHierarchy(dynamicTree.Nodes, dynamicTree.NodeFilters);
var bodyPairWriter = new BodyPairWriter((NativeStream.Writer *)UnsafeUtility.AddressOf(ref pairWriter),
(CollisionFilter *)staticTree.BodyFilters.GetUnsafeReadOnlyPtr(), (CollisionFilter *)dynamicTree.BodyFilters.GetUnsafeReadOnlyPtr(),
dynamicTree.NumBodies, 0);
staticBvh.BvhOverlap(ref bodyPairWriter, dynamicBvh, pair.x, pair.y);
bodyPairWriter.Close();
}
public static unsafe BlobAssetReference <Collider> Create(NativeArray <float3> vertices, NativeArray <int3> triangles, CollisionFilter filter, Material material)
{
// Copy vertices
var tempVertices = new NativeArray <float3>(vertices, Allocator.Temp);
// Triangle indices - needed for WeldVertices
var tempIndices = new NativeArray <int>(triangles.Length * 3, Allocator.Temp);
for (int iTriangle = 0; iTriangle < triangles.Length; iTriangle++)
{
if (triangles[iTriangle][0] >= 0 && triangles[iTriangle][0] < vertices.Length &&
triangles[iTriangle][1] >= 0 && triangles[iTriangle][1] < vertices.Length &&
triangles[iTriangle][2] >= 0 && triangles[iTriangle][2] < vertices.Length)
{
tempIndices[iTriangle * 3] = triangles[iTriangle][0];
tempIndices[iTriangle * 3 + 1] = triangles[iTriangle][1];
tempIndices[iTriangle * 3 + 2] = triangles[iTriangle][2];
}
else
{
throw new ArgumentException("Tried to create a MeshCollider with indices referencing outside vertex array");
}
}
// Build connectivity and primitives
NativeList <float3> uniqueVertices = MeshConnectivityBuilder.WeldVertices(tempIndices, tempVertices);
var tempTriangleIndices = new NativeArray <int3>(triangles.Length, Allocator.Temp);
UnsafeUtility.MemCpy(tempTriangleIndices.GetUnsafePtr(), tempIndices.GetUnsafePtr(), tempIndices.Length * UnsafeUtility.SizeOf <int>());
var connectivity = new MeshConnectivityBuilder(tempTriangleIndices, uniqueVertices);
NativeList <MeshConnectivityBuilder.Primitive> primitives = connectivity.EnumerateQuadDominantGeometry(tempTriangleIndices, uniqueVertices);
// Build bounding volume hierarchy
int nodeCount = math.max(primitives.Length * 2 + 1, 2); // We need at least two nodes - an "invalid" node and a root node.
var nodes = new NativeArray <BoundingVolumeHierarchy.Node>(nodeCount, Allocator.Temp);
int numNodes = 0;
{
// Prepare data for BVH
var points = new NativeList <BoundingVolumeHierarchy.PointAndIndex>(primitives.Length, Allocator.Temp);
var aabbs = new NativeArray <Aabb>(primitives.Length, Allocator.Temp);
for (int i = 0; i < primitives.Length; i++)
{
MeshConnectivityBuilder.Primitive p = primitives[i];
// Skip degenerate triangles
if (MeshConnectivityBuilder.IsTriangleDegenerate(p.Vertices[0], p.Vertices[1], p.Vertices[2]))
{
continue;
}
aabbs[i] = Aabb.CreateFromPoints(p.Vertices);
points.Add(new BoundingVolumeHierarchy.PointAndIndex
{
Position = aabbs[i].Center,
Index = i
});
}
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.Build(points.AsArray(), aabbs, out numNodes, useSah: true);
}
// Build mesh sections
BoundingVolumeHierarchy.Node *nodesPtr = (BoundingVolumeHierarchy.Node *)nodes.GetUnsafePtr();
MeshBuilder.TempSection sections = MeshBuilder.BuildSections(nodesPtr, numNodes, primitives);
// Allocate collider
int meshDataSize = Mesh.CalculateMeshDataSize(numNodes, sections.Ranges);
int totalColliderSize = Math.NextMultipleOf(sizeof(MeshCollider), 16) + meshDataSize;
MeshCollider *meshCollider = (MeshCollider *)UnsafeUtility.Malloc(totalColliderSize, 16, Allocator.Temp);
// Initialize it
{
UnsafeUtility.MemClear(meshCollider, totalColliderSize);
meshCollider->MemorySize = totalColliderSize;
meshCollider->m_Header.Type = ColliderType.Mesh;
meshCollider->m_Header.CollisionType = CollisionType.Composite;
meshCollider->m_Header.Version += 1;
meshCollider->m_Header.Magic = 0xff;
ref var mesh = ref meshCollider->Mesh;
mesh.Init(nodesPtr, numNodes, sections, filter, material);
// Calculate combined filter
meshCollider->m_Header.Filter = mesh.Sections.Length > 0 ? mesh.Sections[0].Filters[0] : CollisionFilter.Default;
for (int i = 0; i < mesh.Sections.Length; ++i)
{
for (var j = 0; j < mesh.Sections[i].Filters.Length; ++j)
{
var f = mesh.Sections[i].Filters[j];
meshCollider->m_Header.Filter = CollisionFilter.CreateUnion(meshCollider->m_Header.Filter, f);
}
}
meshCollider->m_Aabb = meshCollider->Mesh.BoundingVolumeHierarchy.Domain;
meshCollider->NumColliderKeyBits = meshCollider->Mesh.NumColliderKeyBits;
}
// followed by variable sized mesh data
#region Construction
// Create a mesh collider asset from a set of triangles
public static unsafe BlobAssetReference <Collider> Create(float3[] vertices, int[] indices, CollisionFilter?filter = null, Material?material = null)
{
int numVertices = vertices.Length;
int numIndices = indices.Length;
int numTriangles = numIndices / 3;
// Copy vertices
float3[] tempVertices = new float3[numVertices];
Array.Copy(vertices, tempVertices, numVertices);
// Copy indices
int[] tempIndices = new int[numIndices];
for (int iTriangle = 0; iTriangle < numTriangles; iTriangle++)
{
int iIndex0 = iTriangle * 3;
int iIndex1 = iIndex0 + 1;
int iIndex2 = iIndex0 + 2;
tempIndices[iIndex0] = indices[iIndex0];
tempIndices[iIndex1] = indices[iIndex1];
tempIndices[iIndex2] = indices[iIndex2];
}
// Build connectivity and primitives
List <MeshConnectivityBuilder.Primitive> primitives = null;
{
MeshConnectivityBuilder.WeldVertices(tempIndices, ref tempVertices);
var connectivity = new MeshConnectivityBuilder(tempIndices, tempVertices);
primitives = connectivity.EnumerateQuadDominantGeometry(tempIndices, tempVertices);
}
// Build bounding volume hierarchy
var nodes = new NativeArray <BoundingVolumeHierarchy.Node>(primitives.Count * 2 + 1, Allocator.Temp);
int numNodes = 0;
{
// Prepare data for BVH
var points = new NativeArray <BoundingVolumeHierarchy.PointAndIndex>(primitives.Count, Allocator.Temp);
var aabbs = new NativeArray <Aabb>(primitives.Count, Allocator.Temp);
for (int i = 0; i < primitives.Count; i++)
{
MeshConnectivityBuilder.Primitive p = primitives[i];
// Skip degenerate triangles
if (MeshConnectivityBuilder.IsTriangleDegenerate(p.Vertices[0], p.Vertices[1], p.Vertices[2]))
{
continue;
}
aabbs[i] = Aabb.CreateFromPoints(p.Vertices);
points[i] = new BoundingVolumeHierarchy.PointAndIndex
{
Position = aabbs[i].Center,
Index = i
};
}
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.Build(points, aabbs, out numNodes, useSah: true);
points.Dispose();
aabbs.Dispose();
}
// Build mesh sections
BoundingVolumeHierarchy.Node * nodesPtr = (BoundingVolumeHierarchy.Node *)nodes.GetUnsafePtr();
List <MeshBuilder.TempSection> sections = MeshBuilder.BuildSections(nodesPtr, numNodes, primitives);
// Allocate collider
int meshDataSize = Mesh.CalculateMeshDataSize(numNodes, sections);
int totalColliderSize = Math.NextMultipleOf(sizeof(MeshCollider), 16) + meshDataSize;
MeshCollider *meshCollider = (MeshCollider *)UnsafeUtility.Malloc(totalColliderSize, 16, Allocator.Temp);
// Initialize it
{
UnsafeUtility.MemClear(meshCollider, totalColliderSize);
meshCollider->MemorySize = totalColliderSize;
meshCollider->m_Header.Type = ColliderType.Mesh;
meshCollider->m_Header.CollisionType = CollisionType.Composite;
meshCollider->m_Header.Version += 1;
meshCollider->m_Header.Magic = 0xff;
ref var mesh = ref meshCollider->Mesh;
mesh.Init(nodesPtr, numNodes, sections, filter ?? CollisionFilter.Default, material ?? Material.Default);
// Calculate combined filter
meshCollider->m_Header.Filter = mesh.Sections[0].Filters[0];
for (int i = 0; i < mesh.Sections.Length; ++i)
{
foreach (CollisionFilter f in mesh.Sections[i].Filters)
{
meshCollider->m_Header.Filter = CollisionFilter.CreateUnion(meshCollider->m_Header.Filter, f);
}
}
meshCollider->m_Aabb = meshCollider->Mesh.BoundingVolumeHierarchy.Domain;
meshCollider->NumColliderKeyBits = meshCollider->Mesh.NumColliderKeyBits;
}
