コード例 #1
0
            internal static unsafe void ExecuteImpl(int index, sfloat aabbMargin,
                                                    NativeArray <RigidBody> rigidBodies, NativeArray <Aabb> aabbs, NativeArray <PointAndIndex> points,
                                                    NativeArray <CollisionFilter> filtersOut, NativeArray <bool> respondsToCollisionOut)
            {
                RigidBody body = rigidBodies[index];

                Aabb aabb;

                if (body.Collider.IsCreated)
                {
                    aabb = body.Collider.Value.CalculateAabb(body.WorldFromBody);
                    aabb.Expand(aabbMargin);

                    filtersOut[index]             = body.Collider.Value.Filter;
                    respondsToCollisionOut[index] = body.Collider.Value.RespondsToCollision;
                }
                else
                {
                    aabb.Min = body.WorldFromBody.pos;
                    aabb.Max = body.WorldFromBody.pos;

                    filtersOut[index]             = CollisionFilter.Zero;
                    respondsToCollisionOut[index] = false;
                }

                aabbs[index]  = aabb;
                points[index] = new BoundingVolumeHierarchy.PointAndIndex
                {
                    Position = aabb.Center,
                    Index    = index
                };
            }
コード例 #2
0
        private unsafe int BuildBoundingVolume(out NativeArray <BoundingVolumeHierarchy.Node> nodes)
        {
            // Create inputs
            var points = new NativeArray <BoundingVolumeHierarchy.PointAndIndex>(NumChildren, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
            var aabbs  = new NativeArray <Aabb>(NumChildren, Allocator.Temp, NativeArrayOptions.UninitializedMemory);

            for (int i = 0; i < NumChildren; ++i)
            {
                points[i] = new BoundingVolumeHierarchy.PointAndIndex {
                    Position = Children[i].CompoundFromChild.pos, Index = i
                };
                aabbs[i] = Children[i].Collider->CalculateAabb(Children[i].CompoundFromChild);
            }

            // Build BVH
            // Todo: cleanup, better size of nodes array
            nodes = new NativeArray <BoundingVolumeHierarchy.Node>(2 + NumChildren, Allocator.Temp, NativeArrayOptions.UninitializedMemory)
            {
                [0] = BoundingVolumeHierarchy.Node.Empty,
                [1] = BoundingVolumeHierarchy.Node.Empty
            };

            var bvh = new BoundingVolumeHierarchy(nodes);

            bvh.Build(points, aabbs, out int numNodes);

            return(numNodes);
        }
コード例 #3
0
            internal static unsafe void ExecuteImpl(int index, sfloat aabbMargin, float3 gravity, sfloat timeStep,
                                                    NativeArray <RigidBody> rigidBodies, NativeArray <MotionVelocity> motionVelocities,
                                                    NativeArray <Aabb> aabbs, NativeArray <PointAndIndex> points,
                                                    NativeArray <CollisionFilter> filtersOut, NativeArray <bool> respondsToCollisionOut)
            {
                RigidBody body = rigidBodies[index];

                Aabb aabb;

                if (body.Collider.IsCreated)
                {
                    var mv = motionVelocities[index];

                    // Apply gravity only on a copy to get proper expansion for the AABB,
                    // actual applying of gravity will be done later in the physics step
                    mv.LinearVelocity += gravity * timeStep * mv.GravityFactor;

                    MotionExpansion expansion = mv.CalculateExpansion(timeStep);
                    aabb = expansion.ExpandAabb(body.Collider.Value.CalculateAabb(body.WorldFromBody));
                    aabb.Expand(aabbMargin);

                    filtersOut[index]             = body.Collider.Value.Filter;
                    respondsToCollisionOut[index] = body.Collider.Value.RespondsToCollision;
                }
                else
                {
                    aabb.Min = body.WorldFromBody.pos;
                    aabb.Max = body.WorldFromBody.pos;

                    filtersOut[index]             = CollisionFilter.Zero;
                    respondsToCollisionOut[index] = false;
                }

                aabbs[index]  = aabb;
                points[index] = new BoundingVolumeHierarchy.PointAndIndex
                {
                    Position = aabb.Center,
                    Index    = index
                };
            }