public static unsafe void AabbCollider <T>(OverlapAabbInput input, [NoAlias] Collider *collider, [NoAlias] ref T collector)
where T : struct, IOverlapCollector
{
if (!CollisionFilter.IsCollisionEnabled(input.Filter, collider->Filter))
{
return;
}
switch (collider->Type)
{
case ColliderType.Mesh:
AabbMesh(input, (MeshCollider *)collider, ref collector);
break;
case ColliderType.Compound:
AabbCompound(input, (CompoundCollider *)collider, ref collector);
break;
case ColliderType.Terrain:
AabbTerrain(input, (TerrainCollider *)collider, ref collector);
break;
default:
SafetyChecks.ThrowNotImplementedException();
return;
}
}
private unsafe void UpdateCachedBoundingRadius()
{
m_BoundingRadius = sfloat.Zero;
float3 center = BoundingVolumeHierarchy.Domain.Center;
for (int i = 0; i < NumChildren; i++)
{
ref Child child = ref Children[i];
float3 childFromCenter = math.transform(math.inverse(child.CompoundFromChild), center);
sfloat radius = sfloat.Zero;
switch (child.Collider->Type)
{
case ColliderType.Sphere:
case ColliderType.Box:
case ColliderType.Capsule:
case ColliderType.Quad:
case ColliderType.Triangle:
case ColliderType.Cylinder:
case ColliderType.Convex:
radius = ((ConvexCollider *)child.Collider)->CalculateBoundingRadius(childFromCenter);
break;
case ColliderType.Compound:
radius = ((CompoundCollider *)child.Collider)->CalculateBoundingRadius(childFromCenter);
break;
case ColliderType.Mesh:
radius = ((MeshCollider *)child.Collider)->CalculateBoundingRadius(childFromCenter);
break;
case ColliderType.Terrain:
Aabb terrainAabb = ((TerrainCollider *)child.Collider)->CalculateAabb();
radius = math.length(math.max(math.abs(terrainAabb.Max - childFromCenter), math.abs(terrainAabb.Min - childFromCenter)));
break;
default:
SafetyChecks.ThrowNotImplementedException();
break;
}
m_BoundingRadius = math.max(m_BoundingRadius, radius);
}