public unsafe bool ColliderCastLeaf <T>(ColliderCastInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
// Transform the input into body space
var worldFromBody = new MTransform(body.WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
var inputLs = new ColliderCastInput
{
Collider = input.Collider,
Orientation = math.mul(math.inverse(body.WorldFromBody.rot), input.Orientation),
QueryContext = new QueryContext
{
RigidBodyIndex = rigidBodyIndex,
NumColliderKeyBits = 0,
ColliderKey = ColliderKey.Empty,
WorldFromLocalTransform = worldFromBody,
Entity = body.Entity,
IsInitialized = true
}
};
inputLs.Ray.Origin = Mul(bodyFromWorld, input.Ray.Origin);
inputLs.Ray.Displacement = math.mul(bodyFromWorld.Rotation, input.Ray.Displacement);
return(body.CastCollider(inputLs, ref collector));
}
public unsafe bool ColliderCastLeaf <T>(ColliderCastInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
// Transform the input into body space
var worldFromBody = new MTransform(body.WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
var inputLs = new ColliderCastInput
{
Collider = input.Collider,
Orientation = math.mul(math.inverse(body.WorldFromBody.rot), input.Orientation),
};
inputLs.Ray.Origin = Mul(bodyFromWorld, input.Ray.Origin);
inputLs.Ray.Displacement = math.mul(bodyFromWorld.Rotation, input.Ray.Displacement);
float fraction = collector.MaxFraction;
int numHits = collector.NumHits;
if (body.CastCollider(inputLs, ref collector))
{
// Transform results back into world space
collector.TransformNewHits(numHits, fraction, worldFromBody, rigidBodyIndex);
return(true);
}
return(false);
}
public unsafe bool CastCollider <T>(ColliderCastInput input, ref T collector) where T : struct, ICollector <ColliderCastHit>
{
fixed(TerrainCollider *target = &this)
{
return(ColliderCastQueries.ColliderCollider(input, (Collider *)target, ref collector));
}
}
public unsafe bool ColliderCastLeaf <T>(ColliderCastInput input, int rigidBodyIndex, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
rigidBodyIndex += BaseRigidBodyIndex;
input.QueryContext.IsInitialized = true;
input.QueryContext.RigidBodyIndex = rigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
return(body.CastCollider(input, ref collector));
}
public static bool ColliderCast <T>(ref T target, ColliderCastInput input, out ColliderCastHit result) where T : struct, ICollidable
{
var collector = new ClosestHitCollector <ColliderCastHit>(1.0f);
if (target.CastCollider(input, ref collector))
{
result = collector.ClosestHit; // TODO: would be nice to avoid this copy
return(true);
}
result = new ColliderCastHit();
return(false);
}
public bool CastCollider <T>(ColliderCastInput input, ref T collector) where T : struct, ICollector <ColliderCastHit>
{
// Transform the input into body space
MTransform worldFromBody = new MTransform(WorldFromBody);
MTransform bodyFromWorld = Inverse(worldFromBody);
input.Orientation = math.mul(math.inverse(WorldFromBody.rot), input.Orientation);
input.Ray.Origin = Mul(bodyFromWorld, input.Ray.Origin);
input.Ray.Displacement = math.mul(bodyFromWorld.Rotation, input.Ray.Displacement);
SetQueryContextParameters(ref input.QueryContext, ref worldFromBody);
return(Collider.IsCreated && Collider.Value.CastCollider(input, ref collector));
}
public static bool CapsuleCastCustom <T, C>(ref T target, float3 point1, float3 point2, float radius, float3 direction, float maxDistance, ref C collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
where T : struct, ICollidable
where C : struct, ICollector <ColliderCastHit>
{
CapsuleCollider collider = default;
float3 center = (point1 + point2) / 2;
CapsuleGeometry geometry = new CapsuleGeometry
{
Radius = radius,
Vertex0 = point1 - center,
Vertex1 = point2 - center
};
collider.Initialize(geometry, filter, Material.Default);
ColliderCastInput input;
unsafe
{
input = new ColliderCastInput
{
Collider = (Collider *)UnsafeUtility.AddressOf(ref collider),
Orientation = quaternion.identity,
Start = center,
End = center + direction * maxDistance
};
}
if (queryInteraction == QueryInteraction.Default)
{
return(target.CastCollider(input, ref collector));
}
else
{
unsafe
{
var interactionCollector = new QueryInteractionCollector <ColliderCastHit, C>
{
Collector = collector
};
bool returnValue = target.CastCollider(input, ref interactionCollector);
collector = interactionCollector.Collector;
return(returnValue);
}
}
}
public static bool BoxCastCustom <T, C>(ref T target, float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, ref C collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
where T : struct, ICollidable
where C : struct, ICollector <ColliderCastHit>
{
BoxCollider collider = default;
BoxGeometry boxGeometry = new BoxGeometry
{
BevelRadius = 0,
Center = 0,
Orientation = quaternion.identity,
Size = halfExtents * 2
};
collider.Initialize(boxGeometry, filter, Material.Default);
ColliderCastInput input;
unsafe
{
input = new ColliderCastInput
{
Collider = (Collider *)UnsafeUtility.AddressOf(ref collider),
Orientation = orientation,
Start = center,
End = center + direction * maxDistance
};
}
if (queryInteraction == QueryInteraction.Default)
{
return(target.CastCollider(input, ref collector));
}
else
{
unsafe
{
var interactionCollector = new QueryInteractionCollector <ColliderCastHit, C>
{
Collector = collector
};
bool returnValue = target.CastCollider(input, ref interactionCollector);
collector = interactionCollector.Collector;
return(returnValue);
}
}
}
public unsafe bool CastCollider <T>(ColliderCastInput input, NativeSlice <RigidBody> rigidBodies, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
Assert.IsTrue(input.Collider != null);
if (input.Collider->Filter.IsEmpty)
{
return(false);
}
var leafProcessor = new BvhLeafProcessor(rigidBodies);
leafProcessor.BaseRigidBodyIndex = m_DynamicTree.NumBodies;
bool hasHit = m_StaticTree.BoundingVolumeHierarchy.ColliderCast(input, ref leafProcessor, ref collector);
leafProcessor.BaseRigidBodyIndex = 0;
hasHit |= m_DynamicTree.BoundingVolumeHierarchy.ColliderCast(input, ref leafProcessor, ref collector);
return(hasHit);
}
public bool CastCollider(ColliderCastInput input, out ColliderCastHit closestHit) => QueryWrappers.ColliderCast(ref this, input, out closestHit);
public bool CastCollider(ColliderCastInput input) => QueryWrappers.ColliderCast(ref this, input);
public bool CastCollider <T>(ColliderCastInput input, ref T collector) where T : struct, ICollector <ColliderCastHit>
{
return(CollisionWorld.CastCollider(input, ref collector));
}
public bool CastCollider <T>(ColliderCastInput input, ref T collector) where T : struct, ICollector <ColliderCastHit>
{
return(Collider != null && Collider->CastCollider(input, ref collector));
}
public static bool ColliderCast <T>(ref T target, ColliderCastInput input, ref NativeList <ColliderCastHit> allHits) where T : struct, ICollidable
{
var collector = new AllHitsCollector <ColliderCastHit>(1.0f, ref allHits);
return(target.CastCollider(input, ref collector));
}
public static bool ColliderCast <T>(ref T target, ColliderCastInput input) where T : struct, ICollidable
{
var collector = new AnyHitCollector <ColliderCastHit>(1.0f);
return(target.CastCollider(input, ref collector));
}
public bool CastCollider(ColliderCastInput input, ref NativeList <ColliderCastHit> allHits) => QueryWrappers.ColliderCast(ref this, input, ref allHits);
public bool CastCollider <T>(ColliderCastInput input, ref T collector) where T : struct, ICollector <ColliderCastHit>
{
return(Broadphase.CastCollider(input, m_Bodies, ref collector));
}
public bool CastCollider <T>(ColliderCastInput input, ref T collector) where T : struct, ICollector <ColliderCastHit>
{
return(Collider.IsCreated && Collider.Value.CastCollider(input, ref collector));
}
