private unsafe void WriteEvent(LowLevel.CollisionEvent collisionEvent, ref NativeStream.Writer collisionEventWriter)
{
int numContactPoints = collisionEvent.NumNarrowPhaseContactPoints;
int size = UnsafeUtility.SizeOf <LowLevel.CollisionEvent>() + numContactPoints * UnsafeUtility.SizeOf <ContactPoint>();
collisionEventWriter.Write(size);
byte *eventPtr = collisionEventWriter.Allocate(size);
ref LowLevel.CollisionEvent eventRef = ref UnsafeUtilityEx.AsRef <LowLevel.CollisionEvent>(eventPtr);
public void CalculateDetailsTest()
{
// Simple collision event with straight normal and 3 contact points
LowLevel.CollisionEvent lowLevelEvent = new LowLevel.CollisionEvent();
lowLevelEvent.BodyIndices.BodyAIndex = 0;
lowLevelEvent.BodyIndices.BodyBIndex = 1;
lowLevelEvent.ColliderKeys.ColliderKeyA = ColliderKey.Empty;
lowLevelEvent.ColliderKeys.ColliderKeyB = ColliderKey.Empty;
lowLevelEvent.Normal = new float3(0.0f, -1.00000f, 0.0f);
lowLevelEvent.NumNarrowPhaseContactPoints = 3;
lowLevelEvent.SolverImpulse = 1.0f;
// Wrapping collision event
CollisionEvent collisionEvent = new CollisionEvent();
collisionEvent.EventData = lowLevelEvent;
collisionEvent.TimeStep = 1.0f / 60.0f;
// Input velocity is obviously separating, but high angular velocity still caused an event
collisionEvent.InputVelocityA = new Velocity
{
Angular = new float3(-0.00064f, 11.17604f, 0.02133f),
Linear = new float3(-3.81205f, -0.56607f, 9.14945f)
};
collisionEvent.InputVelocityB = new Velocity
{
Angular = new float3(0.00000f, 0.00000f, 0.00000f),
Linear = new float3(0.00000f, 0.00000f, 0.00000f)
};
// Initialize 3 contact points
collisionEvent.NarrowPhaseContactPoints = new NativeArray <ContactPoint>(3, Allocator.Temp)
{
[0] = new ContactPoint
{
Distance = 0.177905f,
Position = new float3(-22.744950f, 2.585318f, -50.108990f)
},
[1] = new ContactPoint
{
Distance = 0.276652f,
Position = new float3(-20.731140f, 2.486506f, -50.322240f)
},
[2] = new ContactPoint
{
Distance = 0.278534f,
Position = new float3(-20.766140f, 2.484623f, -50.652630f)
}
};
// Allocate a simple world of 1 dynamic and 1 static body
var simpleWorld = new Physics.PhysicsWorld(1, 1, 0);
var motionVelocities = simpleWorld.MotionVelocities;
var motionDatas = simpleWorld.MotionDatas;
motionDatas[0] = new MotionData
{
LinearDamping = 0.0f,
AngularDamping = 0.0f,
GravityFactor = 1.0f,
BodyFromMotion = new RigidTransform(new quaternion(0.0f, 0.0f, 0.0f, 1.0f), new float3(0.0f, 0.0f, 0.0f)),
WorldFromMotion = new RigidTransform(new quaternion(0.09212853f, 0.1400256f, -0.006776567f, -0.9858292f), new float3(-22.17587f, 0.5172966f, -52.24425f))
};
motionVelocities[0] = new MotionVelocity
{
LinearVelocity = new float3(-3.81221f, -1.37538f, -15.41893f),
AngularVelocity = new float3(-7.30913f, -4.78899f, 1.14168f),
InverseInertiaAndMass = new float4(0.00045f, 0.00045f, 0.00045f, 0.00018f),
AngularExpansionFactor = 2.05061f
};
// Calculate the collision event details and make sure 1 contact point is returned
var details = collisionEvent.CalculateDetails(ref simpleWorld);
Assert.AreEqual(details.EstimatedContactPointPositions.Length, 1);
// Dispose the world data
simpleWorld.Dispose();
}
