public override void CreateScene(CreateSimpleTerrainScene sceneSettings)
{
int2 size = new int2(2, 2);
float3 scale = new float3(10, 1.0f, 10);
NativeArray <float> heights = new NativeArray <float>(size.x * size.y * UnsafeUtility.SizeOf <float>(), Allocator.Temp);
{
heights[0] = 0;
heights[1] = 0;
heights[2] = 0;
heights[3] = 0;
}
var collider = TerrainCollider.Create(heights, size, scale, TerrainCollider.CollisionMethod.VertexSamples);
CreatedColliders.Add(collider);
float3 position = new float3(15.0f, -1.0f, -5.0f);
CreateTerrainBody(position, collider);
// Mark this one CollisionResponse.None
collider = TerrainCollider.Create(heights, size, scale, TerrainCollider.CollisionMethod.VertexSamples);
collider.As <TerrainCollider>().Material.CollisionResponse = CollisionResponsePolicy.None;
CreatedColliders.Add(collider);
position = new float3(15.0f, -1.0f, 10.0f);
CreateTerrainBody(position, collider);
}
public static BlobAssetReference <Collider> GenerateRandomTerrain(ref Random rnd)
{
int2 size = rnd.NextInt2(2, 50);
float3 scale = rnd.NextFloat3(0.1f, new float3(1, 10, 1));
int numSamples = size.x * size.y;
var heights = new NativeArray <float>(numSamples, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
for (int i = 0; i < numSamples; i++)
{
heights[i] = rnd.NextFloat(0, 1);
}
// CollisionMethod.Vertices will fail the unit tests, because it is a low-quality mode
// that produces inaccurate manifolds. For now we just test CollisionMethod.Triangles
return(TerrainCollider.Create(heights, size, scale, TerrainCollider.CollisionMethod.Triangles));
}
protected override void Start()
{
float3 gravity = new float3(0, -9.81f, 0);
base.init(gravity);
// Make heightfield data
NativeArray <float> heights;
int2 size;
float3 scale;
bool simple = false;
bool flat = false;
bool mountain = false;
if (simple)
{
size = new int2(2, 2);
scale = new float3(1, 0.1f, 1);
heights = new NativeArray <float>(size.x * size.y * UnsafeUtility.SizeOf <float>(), Allocator.Temp);
heights[0] = 1;
heights[1] = 0;
heights[2] = 0;
heights[3] = 1;
}
else
{
size = new int2(SizeX, SizeZ);
scale = new float3(ScaleX, ScaleY, ScaleZ);
float period = 50.0f;
heights = new NativeArray <float>(size.x * size.y * UnsafeUtility.SizeOf <float>(), Allocator.Temp);
for (int j = 0; j < size.y; j++)
{
for (int i = 0; i < size.x; i++)
{
float a = (i + j) * 2.0f * (float)math.PI / period;
heights[i + j * size.x] = flat ? 0.0f : math.sin(a);
if (mountain)
{
float fractionFromCenter = 1.0f - math.min(math.length(new float2(i - size.x / 2, j - size.y / 2)) / (math.min(size.x, size.y) / 2), 1.0f);
float mountainHeight = math.smoothstep(0.0f, 1, fractionFromCenter) * 25.0f;
heights[i + j * size.x] += mountainHeight;
}
}
}
}
// static terrain
Entity staticEntity;
{
bool createMesh = false;
var collider = createMesh
? CreateMeshTerrain(heights, new int2(SizeX, SizeZ), new float3(ScaleX, ScaleY, ScaleZ))
: TerrainCollider.Create(heights, size, scale, Method);
bool compound = false;
if (compound)
{
var instances = new NativeArray <CompoundCollider.ColliderBlobInstance>(4, Allocator.Temp);
for (int i = 0; i < 4; i++)
{
instances[i] = new CompoundCollider.ColliderBlobInstance
{
Collider = collider,
CompoundFromChild = new RigidTransform
{
pos = new float3((i % 2) * scale.x * (size.x - 1), 0.0f, (i / 2) * scale.z * (size.y - 1)),
rot = quaternion.identity
}
};
}
collider = Unity.Physics.CompoundCollider.Create(instances);
instances.Dispose();
}
float3 position = new float3(size.x - 1, 0.0f, size.y - 1) * scale * -0.5f;
staticEntity = CreateStaticBody(position, quaternion.identity, collider);
}
}
public void Execute()
{
var heights = new NativeArray <float>(16, Allocator.Temp);
TerrainCollider.Create(heights, new int2(4, 4), new float3(1f), CollisionMethod).Release();
}
private BlobAssetReference <Collider> CreateCollider(ColliderType type)
{
int numMeshes = type == ColliderType.Compound ? 2 : 1;
ColliderMeshes = new Mesh[numMeshes];
BlobAssetReference <Collider> collider = default;
switch (type)
{
case ColliderType.Sphere:
collider = SphereCollider.Create(new SphereGeometry
{
Center = float3.zero,
Radius = 0.5f
});
break;
case ColliderType.Triangle:
collider = PolygonCollider.CreateTriangle(k_TriangleVertices[0], k_TriangleVertices[1], k_TriangleVertices[2]);
break;
case ColliderType.Quad:
collider = PolygonCollider.CreateQuad(k_QuadVertices[0], k_QuadVertices[1], k_QuadVertices[2], k_QuadVertices[3]);
break;
case ColliderType.Box:
collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f),
BevelRadius = 0.0f
});
break;
case ColliderType.Capsule:
collider = CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(0, -0.5f, 0),
Vertex1 = new float3(0, 0.5f, 0),
Radius = 0.5f
});
break;
case ColliderType.Cylinder:
// TODO: need someone to add
throw new NotImplementedException();
case ColliderType.Convex:
// Tetrahedron
NativeArray <float3> points = new NativeArray <float3>(k_TetraherdonVertices, Allocator.TempJob);
collider = ConvexCollider.Create(points, ConvexHullGenerationParameters.Default, CollisionFilter.Default);
points.Dispose();
break;
case ColliderType.Compound:
var child1 = SphereCollider.Create(new SphereGeometry
{
Center = float3.zero,
Radius = 0.5f
});
ChildrenColliders.Add(child1);
var child2 = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f),
BevelRadius = 0.0f
});
ChildrenColliders.Add(child2);
NativeArray <ColliderBlobInstance> childrenBlobs = new NativeArray <ColliderBlobInstance>(2, Allocator.TempJob);
childrenBlobs[0] = new ColliderBlobInstance
{
Collider = child1,
CompoundFromChild = new RigidTransform
{
pos = new float3(0.5f, 0, 0),
rot = quaternion.identity
}
};
childrenBlobs[1] = new ColliderBlobInstance
{
Collider = child2,
CompoundFromChild = new RigidTransform
{
pos = new float3(-0.5f, 0, 0),
rot = quaternion.identity
}
};
ColliderMeshes[0] = SceneCreationUtilities.CreateMeshFromCollider(child1);
ColliderMeshes[1] = SceneCreationUtilities.CreateMeshFromCollider(child2);
collider = CompoundCollider.Create(childrenBlobs);
childrenBlobs.Dispose();
break;
case ColliderType.Mesh:
// Tetrahedron mesh
NativeArray <float3> meshVertices = new NativeArray <float3>(k_TetraherdonVertices, Allocator.TempJob);
NativeArray <int3> meshTriangles = new NativeArray <int3>(k_TetrahedronMeshTriangles, Allocator.TempJob);
collider = MeshCollider.Create(meshVertices, meshTriangles);
meshVertices.Dispose();
meshTriangles.Dispose();
break;
case ColliderType.Terrain:
int2 size = 2;
float3 scale = 1;
Random rand = new Random(0x9739);
int numSamples = size.x * size.y;
var heights = new NativeArray <float>(numSamples, Allocator.TempJob, NativeArrayOptions.UninitializedMemory);
for (int i = 0; i < numSamples; i++)
{
heights[i] = rand.NextFloat(0, 1);
}
collider = TerrainCollider.Create(heights, size, scale, TerrainCollider.CollisionMethod.VertexSamples);
heights.Dispose();
break;
default:
throw new System.NotImplementedException();
}
if (ColliderType != ColliderType.Compound)
{
ColliderMeshes[0] = SceneCreationUtilities.CreateMeshFromCollider(collider);
}
return(collider);
}
