public static unsafe BlobAssetReference <Collider> CreateTriangle(float3 vertex0, float3 vertex1, float3 vertex2, CollisionFilter filter, Material material)
{
SafetyChecks.CheckFiniteAndThrow(vertex0, nameof(vertex0));
SafetyChecks.CheckFiniteAndThrow(vertex1, nameof(vertex1));
SafetyChecks.CheckFiniteAndThrow(vertex2, nameof(vertex2));
var collider = new PolygonCollider();
collider.InitAsTriangle(vertex0, vertex1, vertex2, filter, material);
return(BlobAssetReference <Collider> .Create(&collider, UnsafeUtility.SizeOf <PolygonCollider>()));
}
public static BlobAssetReference <Collider> CreateTriangle(float3 vertex0, float3 vertex1, float3 vertex2, CollisionFilter?filter = null, Material?material = null)
{
if (math.any(!math.isfinite(vertex0)) || math.any(!math.isfinite(vertex1)) || math.any(!math.isfinite(vertex2)))
{
throw new System.ArgumentException("Tried to create triangle collider with nan/inf vertex");
}
using (var allocator = new BlobAllocator(-1))
{
ref PolygonCollider collider = ref allocator.ConstructRoot <PolygonCollider>();
collider.InitAsTriangle(vertex0, vertex1, vertex2, filter ?? CollisionFilter.Default, material ?? Material.Default);
return(allocator.CreateBlobAssetReference <Collider>(Allocator.Persistent));
}
public static unsafe BlobAssetReference <Collider> CreateQuad(float3 vertex0, float3 vertex1, float3 vertex2, float3 vertex3, CollisionFilter filter, Material material)
{
SafetyChecks.CheckFiniteAndThrow(vertex0, nameof(vertex0));
SafetyChecks.CheckFiniteAndThrow(vertex1, nameof(vertex1));
SafetyChecks.CheckFiniteAndThrow(vertex2, nameof(vertex2));
SafetyChecks.CheckFiniteAndThrow(vertex3, nameof(vertex3));
SafetyChecks.CheckCoplanarAndThrow(vertex0, vertex1, vertex2, vertex3, nameof(vertex3));
PolygonCollider collider = default;
collider.InitAsQuad(vertex0, vertex1, vertex2, vertex3, filter, material);
return(BlobAssetReference <Collider> .Create(&collider, UnsafeUtility.SizeOf <PolygonCollider>()));
}
public static unsafe BlobAssetReference <Collider> CreateTriangle(float3 vertex0, float3 vertex1, float3 vertex2, CollisionFilter filter, Material material)
{
if (math.any(!math.isfinite(vertex0)) || math.any(!math.isfinite(vertex1)) || math.any(!math.isfinite(vertex2)))
{
throw new ArgumentException("Tried to create triangle collider with nan/inf vertex");
}
var collider = new PolygonCollider();
collider.InitAsTriangle(vertex0, vertex1, vertex2, filter, material);
return(BlobAssetReference <Collider> .Create(&collider, UnsafeUtility.SizeOf <PolygonCollider>()));
}
public static unsafe BlobAssetReference <Collider> CreateQuad(float3 vertex0, float3 vertex1, float3 vertex2, float3 vertex3, CollisionFilter filter, Material material)
{
if (math.any(!math.isfinite(vertex0)) || math.any(!math.isfinite(vertex1)) || math.any(!math.isfinite(vertex2)) || math.any(!math.isfinite(vertex3)))
{
throw new ArgumentException("Tried to create triangle collider with nan/inf vertex");
}
// check if vertices are co-planar
float3 normal = math.normalize(math.cross(vertex1 - vertex0, vertex2 - vertex0));
if (math.abs(math.dot(normal, vertex3 - vertex0)) > 1e-3f)
{
throw new ArgumentException("Vertices for quad creation are not co-planar");
}
PolygonCollider collider = default;
collider.InitAsQuad(vertex0, vertex1, vertex2, vertex3, filter, material);
return(BlobAssetReference <Collider> .Create(&collider, UnsafeUtility.SizeOf <PolygonCollider>()));
}
public void AddColliderKeys(ColliderKey *keys, int count)
{
var colliderKeys = new ColliderKeyPair {
ColliderKeyA = m_ConvexColliderKey, ColliderKeyB = m_ConvexColliderKey
};
CollisionFilter filter = m_ConvexColliderA->Filter;
// Collide the convex A with all overlapping leaves of B
switch (m_CompositeColliderB->Type)
{
// Special case meshes (since we know all polygons will be built on the fly)
case ColliderType.Mesh:
{
Mesh *mesh = &((MeshCollider *)m_CompositeColliderB)->Mesh;
uint numMeshKeyBits = mesh->NumColliderKeyBits;
var polygon = new PolygonCollider();
polygon.InitEmpty();
for (int i = 0; i < count; i++)
{
ColliderKey compositeKey = m_CompositeColliderKeyPath.GetLeafKey(keys[i]);
uint meshKey = compositeKey.Value >> (32 - (int)numMeshKeyBits);
if (mesh->GetPolygon(meshKey, filter, ref polygon))
{
if (m_Flipped)
{
colliderKeys.ColliderKeyA = compositeKey;
}
else
{
colliderKeys.ColliderKeyB = compositeKey;
}
switch (m_ConvexColliderA->CollisionType)
{
case CollisionType.Convex:
ConvexConvex(
m_Context, colliderKeys, m_ConvexColliderA, (Collider *)&polygon,
m_WorldFromA, m_WorldFromB, m_CollisionTolerance, m_Flipped);
break;
case CollisionType.Terrain:
TerrainConvex(
m_Context, colliderKeys, m_ConvexColliderA, (Collider *)&polygon,
m_WorldFromA, m_WorldFromB, m_CollisionTolerance, m_Flipped);
break;
default: // GetLeaf() may not return a composite collider
throw new NotImplementedException();
}
}
}
}
break;
// General case for all other composites (compounds, compounds of meshes, etc)
default:
{
for (int i = 0; i < count; i++)
{
ColliderKey compositeKey = m_CompositeColliderKeyPath.GetLeafKey(keys[i]);
m_CompositeColliderB->GetLeaf(compositeKey, out ChildCollider leaf);
if (CollisionFilter.IsCollisionEnabled(filter, leaf.Collider->Filter)) // TODO: shouldn't be needed if/when filtering is done fully by the BVH query
{
if (m_Flipped)
{
colliderKeys.ColliderKeyA = compositeKey;
}
else
{
colliderKeys.ColliderKeyB = compositeKey;
}
MTransform worldFromLeafB = Mul(m_WorldFromB, new MTransform(leaf.TransformFromChild));
switch (leaf.Collider->CollisionType)
{
case CollisionType.Convex:
ConvexConvex(
m_Context, colliderKeys, m_ConvexColliderA, leaf.Collider,
m_WorldFromA, worldFromLeafB, m_CollisionTolerance, m_Flipped);
break;
case CollisionType.Terrain:
ConvexTerrain(
m_Context, colliderKeys, m_ConvexColliderA, leaf.Collider,
m_WorldFromA, worldFromLeafB, m_CollisionTolerance, m_Flipped);
break;
default: // GetLeaf() may not return a composite collider
throw new NotImplementedException();
}
}
}
}
break;
}
}
