protected override unsafe void Start()
{
init(float3.zero); // no gravity
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
Entity *entities = stackalloc Entity[2];
entities[1] = Entity.Null;
for (int i = 0; i < 1; i++)
{
CollisionFilter filter = new CollisionFilter
{
MaskBits = (uint)(1 << i),
CategoryBits = (uint)~(1 << (1 - i))
};
BlobAssetReference <Collider> collider = BoxCollider.Create(
float3.zero, Quaternion.identity, new float3(1.0f, 0.2f, 0.2f), 0.0f, filter);
entities[i] = CreateDynamicBody(float3.zero, quaternion.identity, collider, float3.zero, new float3(0, 1 - i, 0), 1.0f);
}
float3 pivot = float3.zero;
float3 axis = new float3(0, 1, 0);
float3 perpendicular = new float3(0, 0, 1);
//BlobAssetReference<JointData> hingeData = JointData.CreateLimitedHinge(pivot, pivot, axis, axis, perpendicular, perpendicular, 0.2f, (float)math.PI);
BlobAssetReference <JointData> hingeData = JointData.CreateLimitedHinge(pivot, pivot, axis, axis, perpendicular, perpendicular, -(float)math.PI, -0.2f);
CreateJoint(hingeData, entities[0], entities[1]);
}
static public BlobAssetReference <Collider> ProduceColliderBlob
(this UnityEngine.BoxCollider shape, int groupIndex)
{
var worldCenter = math.mul(shape.transform.localToWorldMatrix, new float4(shape.center, 1f));
var shapeFromWorld = math.inverse(
new float4x4(new RigidTransform(shape.transform.rotation, shape.transform.position))
);
var geometry = new BoxGeometry
{
Center = math.mul(shapeFromWorld, worldCenter).xyz,
Orientation = quaternion.identity
};
var linearScale = (float3)shape.transform.lossyScale;
geometry.Size = math.abs(shape.size * linearScale);
geometry.BevelRadius = math.min(ConvexHullGenerationParameters.Default.BevelRadius, math.cmin(geometry.Size) * 0.5f);
return(BoxCollider.Create(
geometry, GetFilter(shape, groupIndex)
//ProduceCollisionFilter( shape ),
//ProduceMaterial( shape )
));
}
protected override unsafe void Start()
{
init(); // no gravity
Entity *entities = stackalloc Entity[2];
entities[1] = Entity.Null;
for (int i = 0; i < 1; i++)
{
CollisionFilter filter = new CollisionFilter
{
CollidesWith = (uint)(1 << i),
BelongsTo = (uint)~(1 << (1 - i))
};
BlobAssetReference <Collider> collider = BoxCollider.Create(
new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(1.0f, 0.2f, 0.2f),
BevelRadius = 0.0f
},
filter, Material.Default);
entities[i] = CreateDynamicBody(float3.zero, quaternion.identity, collider, float3.zero, new float3(0, 1 - i, 0), 1.0f);
}
var jointFrame = new BodyFrame {
Axis = new float3(0, 1, 0), PerpendicularAxis = new float3(0, 0, 1)
};
PhysicsJoint hingeData =
PhysicsJoint.CreateLimitedHinge(jointFrame, jointFrame, new FloatRange(-math.PI, -0.2f));
CreateJoint(hingeData, entities[0], entities[1]);
}
protected override unsafe void Start()
{
init(float3.zero);
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1
});
BlobAssetReference <Collider> collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Make some 1d angular limit joints
const int size = 6;
const float speed = 1.0f;
int iDbg = 0;
int jDbg = 3;
for (int i = 0; i < size; i++)
{
quaternion q1 = quaternion.AxisAngle(new float3(1, 0, 0), (float)math.PI * 2.0f * i / size);
for (int j = 0; j < size; j++)
{
if (iDbg >= 0 && jDbg >= 0 && (i != iDbg || j != jDbg))
{
continue;
}
// Choose the limited axis
quaternion q2 = quaternion.AxisAngle(math.mul(q1, new float3(0, 1, 0)),
(float)math.PI * ((float)j / size));
// Create a body with some angular velocity about the axis
float3 pos = new float3(i - (size - 1) / 2.0f, 0, j - (size - 1) / 2.0f);
Entity body = CreateDynamicBody(pos, quaternion.identity, collider, float3.zero,
math.mul(q2, new float3(speed, 0, 0)), 1.0f);
// Create a 1D angular limit about the axis
float3x3 rotationB = float3x3.identity;
float3x3 rotationA = math.mul(new float3x3(q2), rotationB);
MTransform transformA = new MTransform(rotationA, new float3(0, 0, 0));
MTransform transformB = new MTransform(rotationB, pos);
BlobAssetReference <JointData> jointData = JointData.Create(
transformA, transformB,
new[] {
Constraint.Twist(0, -(float)math.PI / 4.0f, (float)math.PI / 4.0f)
}
);
CreateJoint(jointData, body, Entity.Null);
}
}
}
protected override void Start()
{
base.Start();
//base.init(float3.zero); // no gravity
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1,
DrawContacts = 1
});
const uint layerBody = (1 << 0);
const uint layerHead = (1 << 1);
const uint layerUpperArm = (1 << 2);
const uint layerForearm = (1 << 3);
const uint layerHand = (1 << 4);
const uint layerThigh = (1 << 5);
// const uint layerCalf = (1 << 6);
// const uint layerFoot = (1 << 7);
const int layerGround = (1 << 8);
// Floor
{
BlobAssetReference <Collider> collider = BoxCollider.Create(float3.zero, Quaternion.identity, new float3(20.0f, 0.2f, 20.0f), 0.01f, filter(layerGround, 0));
CreateStaticBody(new float3(0, -0.1f, 0), quaternion.identity, collider);
}
// Body
float3 bodyHalfExtents = new float3(0.2f, 0.3f, 0.075f);
float3 bodyPosition = new float3(0, 0.1f, 0);
Entity body;
{
BlobAssetReference <Collider> collider = BoxCollider.Create(
float3.zero, Quaternion.identity, 2.0f * bodyHalfExtents, 0.01f, filter(layerBody, layerHead | layerUpperArm | layerThigh));
quaternion q = quaternion.AxisAngle(new float3(1, 0, 0), (float)math.PI / 2.0f);
body = CreateDynamicBody(bodyPosition, quaternion.identity, collider, float3.zero, float3.zero, 10.0f);
//body = createStaticBody(bodyPosition, quaternion.identity, collider);
}
// Arms
{
float handLength = 0.025f;
float handRadius = 0.055f;
BlobAssetReference <Collider> handCollider = CapsuleCollider.Create(new float3(-handLength / 2, 0, 0), new float3(handLength / 2, 0, 0), handRadius,
filter(layerHand, layerForearm));
for (int i = 0; i < 1; i++)
{
float s = i * 2 - 1.0f;
float3 handPosition = new float3(0, 0.3f, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 10.0f);
}
}
}
protected override unsafe void Start()
{
init();
BlobAssetReference <Collider> collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(0.2f, 0.2f, 0.2f),
BevelRadius = 0.0f
});
// Make some 1d angular limit joints
const int size = 6;
const float speed = 1.0f;
int iDbg = 0;
int jDbg = 3;
for (int i = 0; i < size; i++)
{
quaternion q1 = quaternion.AxisAngle(new float3(1, 0, 0), (float)math.PI * 2.0f * i / size);
for (int j = 0; j < size; j++)
{
if (iDbg >= 0 && jDbg >= 0 && (i != iDbg || j != jDbg))
{
continue;
}
// Choose the limited axis
quaternion q2 = quaternion.AxisAngle(math.mul(q1, new float3(0, 1, 0)),
(float)math.PI * ((float)j / size));
// Create a body with some angular velocity about the axis
float3 pos = new float3(i - (size - 1) / 2.0f, 0, j - (size - 1) / 2.0f);
Entity body = CreateDynamicBody(pos, quaternion.identity, collider, float3.zero,
math.mul(q2, new float3(speed, 0, 0)), 1.0f);
// Create a 1D angular limit about the axis
float3x3 rotationB = float3x3.identity;
float3x3 rotationA = math.mul(new float3x3(q2), rotationB);
var jointData = new PhysicsJoint
{
BodyAFromJoint = new RigidTransform(rotationA, new float3(0, 0, 0)),
BodyBFromJoint = new RigidTransform(rotationB, pos)
};
jointData.SetConstraints(new FixedList128 <Constraint>
{
Length = 1,
[0] = Constraint.Twist(0, new FloatRange(-math.PI / 4f, math.PI / 4f))
});
CreateJoint(jointData, body, Entity.Null);
}
}
}
private void Start()
{
var entityManager = World.DefaultGameObjectInjectionWorld.EntityManager;
var entityAcretype = entityManager.CreateArchetype(
typeof(LocalToWorld),
typeof(Rotation),
typeof(Translation),
typeof(RenderBounds),
typeof(WorldRenderBounds),
typeof(PerInstanceCullingTag),
typeof(RenderMesh),
typeof(ChunkWorldRenderBounds),
typeof(PhysicsCollider)
);
var entities = entityManager.CreateEntity(entityAcretype, 1000000, Allocator.Temp);
for (int x = 0; x < 1000; x++)
{
for (int y = 0; y < 1000; y++)
{
var entity = entities[x + y * 1000];
entityManager.SetComponentData(entity, new PhysicsCollider {
Value = BoxCollider.Create(new BoxGeometry
{
Size = new float3(1f, 1f, 1f),
Orientation = Quaternion.identity
})
});
entityManager.SetSharedComponentData(entity, new RenderMesh {
mesh = CubeMesh, material = CubeMaterial
});
entityManager.SetComponentData(entity,
new RenderBounds
{
Value = new AABB
{
Center = float3.zero, Extents = new float3(.5f, .5f, .5f)
}
});
entityManager.SetComponentData(entity, new Translation()
{
Value = new float3(x, 0, y) + .5f
});
}
}
entities.Dispose();
}
private static PhysicsCollider CreateBoxCollider(float sizeX, float sizeY, float sizeZ, float centerX, float centerY, float centerZ, CollisionFilter filter, PhysicsMaterial physicsMaterial)
{
BoxGeometry boxGeo = new BoxGeometry
{
Center = new float3(centerX, centerY, centerZ),
Orientation = quaternion.identity,
Size = new float3(sizeX, sizeY, sizeZ),
BevelRadius = 0.05f
};
return(new PhysicsCollider {
Value = BoxCollider.Create(boxGeo, filter, physicsMaterial)
});
}
protected override void OnCreate()
{
base.OnCreate();
_buildingCollider = EntityManager.CreateArchetype(
ComponentType.ReadOnly <BuildingTag>(),
typeof(Static),
typeof(LocalToWorld),
typeof(PhysicsCollider)
);
_cubeMesh = AssetData.BuildingCollider.ToRenderMesh();
_collider = BoxCollider.Create(AssetData.BuildingCollider.BoxGeometry,
new CollisionFilter
{
BelongsTo = CollisionGroups.Buildings,
CollidesWith = CollisionGroups.Cast, //CollisionGroups.Drone | CollisionGroups.Cast, TODO ignore drones for now
GroupIndex = 0
});
var t = AssetData.BuildingCollider.Parent;
var entities = new NativeArray <Entity>(t.childCount, Allocator.TempJob);
EntityManager.CreateEntity(_buildingCollider, entities);
for (var i = 0; i < t.childCount; ++i)
{
var child = t.GetChild(i);
var ltw = math.mul(new float4x4(child.rotation, child.position), float4x4.Scale(child.localScale));
EntityManager.SetComponentData(entities[i], new LocalToWorld {
Value = ltw
});
EntityManager.SetComponentData(entities[i], new PhysicsCollider {
Value = _collider
});
EntityManager.AddSharedComponentData(entities[i], _cubeMesh);
}
entities.Dispose();
Enabled = false;
}
public static BlobAssetReference <Collider> CreateCollider(UnityEngine.Mesh mesh, ColliderType type)
{
switch (type)
{
case ColliderType.Sphere: {
Bounds bounds = mesh.bounds;
return(SphereCollider.Create(new SphereGeometry {
Center = bounds.center,
Radius = math.cmax(bounds.extents)
}));
}
case ColliderType.Triangle: {
return(PolygonCollider.CreateTriangle(mesh.vertices[0], mesh.vertices[1], mesh.vertices[2]));
}
case ColliderType.Quad: {
// We assume the first 2 triangles of the mesh are a quad with a shared edge
// Work out a correct ordering for the triangle
int[] orderedIndices = new int[4];
// Find the vertex in first triangle that is not on the shared edge
for (int i = 0; i < 3; i++)
{
if ((mesh.triangles[i] != mesh.triangles[3]) &&
(mesh.triangles[i] != mesh.triangles[4]) &&
(mesh.triangles[i] != mesh.triangles[5]))
{
// Push in order or prev, unique, next
orderedIndices[0] = mesh.triangles[(i - 1 + 3) % 3];
orderedIndices[1] = mesh.triangles[i];
orderedIndices[2] = mesh.triangles[(i + 1) % 3];
break;
}
}
// Find the vertex in second triangle that is not on a shared edge
for (int i = 3; i < 6; i++)
{
if ((mesh.triangles[i] != orderedIndices[0]) &&
(mesh.triangles[i] != orderedIndices[1]) &&
(mesh.triangles[i] != orderedIndices[2]))
{
orderedIndices[3] = mesh.triangles[i];
break;
}
}
return(PolygonCollider.CreateQuad(
mesh.vertices[orderedIndices[0]],
mesh.vertices[orderedIndices[1]],
mesh.vertices[orderedIndices[2]],
mesh.vertices[orderedIndices[3]]));
}
case ColliderType.Box: {
Bounds bounds = mesh.bounds;
return(BoxCollider.Create(new BoxGeometry {
Center = bounds.center,
Orientation = quaternion.identity,
Size = 2.0f * bounds.extents,
BevelRadius = 0.0f
}));
}
case ColliderType.Capsule: {
Bounds bounds = mesh.bounds;
float min = math.cmin(bounds.extents);
float max = math.cmax(bounds.extents);
int x = math.select(math.select(2, 1, min == bounds.extents.y), 0, min == bounds.extents.x);
int z = math.select(math.select(2, 1, max == bounds.extents.y), 0, max == bounds.extents.x);
int y = math.select(math.select(2, 1, (1 != x) && (1 != z)), 0, (0 != x) && (0 != z));
float radius = bounds.extents[y];
float3 vertex0 = bounds.center; vertex0[z] = -(max - radius);
float3 vertex1 = bounds.center; vertex1[z] = (max - radius);
return(CapsuleCollider.Create(new CapsuleGeometry {
Vertex0 = vertex0,
Vertex1 = vertex1,
Radius = radius
}));
}
case ColliderType.Cylinder:
// TODO: need someone to add
throw new NotImplementedException();
case ColliderType.Convex: {
NativeArray <float3> points = new NativeArray <float3>(mesh.vertices.Length, Allocator.TempJob);
for (int i = 0; i < mesh.vertices.Length; i++)
{
points[i] = mesh.vertices[i];
}
BlobAssetReference <Collider> collider = ConvexCollider.Create(points, default, CollisionFilter.Default);
points.Dispose();
return(collider);
}
private async void CreateRectilinearPlane(int x, int y, float barWidth)
{
Material blackMaterial = await Addressables.LoadAssetAsync <Material>(
PRC.Addressables.Materials.Black
).Task;
Mesh barMesh = Copy(
(await Addressables.LoadAssetAsync <GameObject>(PRC.Addressables.Prefabs.Cube).Task)
.GetComponent <MeshFilter>()
.sharedMesh
);
const float barDistance = 0.005f;
DOTools.Meshing.ScaleMesh(ref barMesh, new float3(barWidth, 1, barWidth));
barMesh.RecalculateNormals();
EntityArchetype barArchetype = EntityManager.CreateArchetype(
// Tags.
ComponentType.ReadWrite <BarTag>(),
// Transform.
ComponentType.ReadWrite <LocalToWorld>(),
ComponentType.ReadWrite <Translation>(),
ComponentType.ReadWrite <Rotation>(),
ComponentType.ReadWrite <Scale>(),
// Rendering.
ComponentType.ReadWrite <RenderMesh>(),
ComponentType.ReadWrite <RenderBounds>(),
ComponentType.ReadWrite <WorldRenderBounds>(),
ComponentType.ReadWrite <ChunkWorldRenderBounds>(),
// Physics.
ComponentType.ReadWrite <PhysicsCollider>(),
// Controller data.
ComponentType.ReadWrite <ControllerInputData>(),
ComponentType.ReadWrite <ControllerCharacteristics>()
);
ControllerProfile profile = await Addressables.LoadAssetAsync <ControllerProfile>(
PRC.Addressables.Profiles.Controller
).Task;
for (int i = 0; i < x; i++)
{
for (int j = 0; j < y; j++)
{
Entity bar = World.EntityManager.CreateEntity(barArchetype);
float3 position = new float3(i * (barWidth + barDistance), 0, j * (barWidth + barDistance));
float3 scale = new float3(barWidth, 1, barWidth);
EntityManager.SetSharedComponentData(bar, new RenderMesh()
{
mesh = barMesh,
material = blackMaterial
});
EntityManager.SetSharedComponentData(bar, profile.characteristics);
EntityManager.SetComponentData(bar, new Translation()
{
Value = position
});
EntityManager.SetComponentData(bar, new Scale()
{
Value = 1f
});
PhysicsCollider collider = new PhysicsCollider()
{
Value = BoxCollider.Create(new BoxGeometry()
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = scale,
BevelRadius = 0.01f
})
};
EntityManager.SetComponentData(bar, collider);
/*EntityManager.SetComponentData(bar, PhysicsMass.CreateDynamic(collider.MassProperties, 1f));
*
* EntityManager.SetComponentData(bar, new PhysicsVelocity {
* Linear = 0,
* Angular = 0
* });
*
* EntityManager.SetComponentData(bar, new PhysicsDamping {
* Linear = 0.01f,
* Angular = 0.05f
* });*/
}
}
}
protected override void Start()
{
base.Start();
const uint layerBody = (1 << 0);
const uint layerHead = (1 << 1);
const uint layerUpperArm = (1 << 2);
const uint layerForearm = (1 << 3);
const uint layerHand = (1 << 4);
const uint layerThigh = (1 << 5);
// const uint layerCalf = (1 << 6);
// const uint layerFoot = (1 << 7);
const int layerGround = (1 << 8);
// Floor
{
BlobAssetReference <Collider> collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(20.0f, 0.2f, 20.0f),
BevelRadius = 0.01f
},
filter(layerGround, 0), Material.Default);
CreateStaticBody(new float3(0, -0.1f, 0), quaternion.identity, collider);
}
// Body
float3 bodyHalfExtents = new float3(0.2f, 0.3f, 0.075f);
float3 bodyPosition = new float3(0, 0.1f, 0);
Entity body;
{
BlobAssetReference <Collider> collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = 2.0f * bodyHalfExtents,
BevelRadius = 0.01f
},
filter(layerBody, layerHead | layerUpperArm | layerThigh), Material.Default);
quaternion q = quaternion.AxisAngle(new float3(1, 0, 0), (float)math.PI / 2.0f);
body = CreateDynamicBody(bodyPosition, quaternion.identity, collider, float3.zero, float3.zero, 10.0f);
//body = createStaticBody(bodyPosition, quaternion.identity, collider);
}
// Arms
{
float handLength = 0.025f;
float handRadius = 0.055f;
BlobAssetReference <Collider> handCollider = CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-handLength / 2, 0, 0),
Vertex1 = new float3(handLength / 2, 0, 0),
Radius = handRadius
},
filter(layerHand, layerForearm), Material.Default);
for (int i = 0; i < 1; i++)
{
float s = i * 2 - 1.0f;
float3 handPosition = new float3(0, 0.3f, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 10.0f);
}
}
}
