public static unsafe void ValidateEdge(this NativeHull hull, NativeHalfEdge *edge)
{
Debug.Assert(hull.faceCount > 0);
Debug.Assert(hull.edgeCount > 0);
Debug.Assert(edge->twin != -1);
NativeHalfEdge *curTwin = hull.edges + edge->twin;
int edgeIndex = (int)(edge - hull.edges);
Debug.Assert(curTwin->twin == edgeIndex, "The twin of the edge twin must be the edge itself");
Debug.Assert(math.abs(edge->twin - edgeIndex) == 1, "The two edges must be close by one index.");
Debug.Assert(hull.edges[edge->prev].next == edgeIndex, "The twin of the edge twin must be the edge");
Debug.Assert(edge->origin != curTwin->origin, "Edges and their twin must point to each others' origin vertex");
int count = 0;
NativeHalfEdge *start = edge;
do
{
NativeHalfEdge *next = hull.edges + edge->next;
NativeHalfEdge *twin = hull.edges + next->twin;
edge = twin;
Debug.Assert(edge->face != -1, "All edges must have a face index");
bool infiniteLoop = count > hull.edgeCount;
if (count > hull.edgeCount)
{
Debug.Assert(true, "Possible infinite Edge Loop");
break;
}
++count;
}while (edge != start);
}
public static unsafe void ValidateFace(this NativeHull hull, NativeFace *face)
{
Debug.Assert(hull.faceCount > 0);
Debug.Assert(hull.edgeCount > 0);
Debug.Assert(face->edge != -1);
ValidateEdge(hull, hull.edges + face->edge);
}
public static void DrawBasicHull(NativeHull hull1, RigidTransform t)
{
foreach (var edge in hull1.GetEdges())
{
var a = math.transform(t, edge.GetOrigin(hull1));
var b = math.transform(t, edge.GetTwinOrigin(hull1));
Debug.DrawLine(a, b, Color.black);
}
}
public static CollisionInfo GetDebugCollisionInfo(RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
CollisionInfo result = default;
QueryFaceDistance(out result.Face1, transform1, hull1, transform2, hull2);
QueryFaceDistance(out result.Face2, transform2, hull2, transform1, hull1);
QueryEdgeDistance(out result.Edge, transform1, hull1, transform2, hull2);
result.IsColliding = result.Face1.Distance < 0 && result.Face2.Distance < 0 && result.Edge.Distance < 0;
return(result);
}
public static unsafe void Validate(this NativeHull hull)
{
Debug.Assert(hull.faceCount > 0);
Debug.Assert(hull.edgeCount > 0);
for (int i = 0; i < hull.faceCount; ++i)
{
ValidateFace(hull, hull.faces + i);
}
}
public static void DrawFaceWithOutline(int faceIndex, RigidTransform t, NativeHull hull, Color fillColor, Color outlineColor)
{
var verts = hull.GetVertices(faceIndex).Select(cp => (Vector3)cp).ToArray();
var tVerts = new List <Vector3>();
for (int i = 0; i < verts.Length; i++)
{
var v = math.transform(t, verts[i]);
tVerts.Add(v);
var nextIndex = i + 1 < verts.Length ? i + 1 : 0;
var next = math.transform(t, verts[nextIndex]);
Debug.DrawLine(v, next, outlineColor);
}
DebugDrawer.DrawAAConvexPolygon(tVerts.ToArray(), fillColor);
}
public static unsafe int GetSupportIndex(this NativeHull hull, float3 direction)
{
int index = 0;
float max = dot(direction, hull.vertices[index]);
for (int i = 1; i < hull.vertexCount; ++i)
{
float dot = math.dot(direction, hull.vertices[i]);
if (dot > max)
{
index = i;
max = dot;
}
}
return(index);
}
public static bool IsCollision(RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
FaceQueryResult faceQuery;
QueryFaceDistance(out faceQuery, transform1, hull1, transform2, hull2);
if (faceQuery.Distance > 0)
{
return(false);
}
QueryFaceDistance(out faceQuery, transform2, hull2, transform1, hull1);
if (faceQuery.Distance > 0)
{
return(false);
}
QueryEdgeDistance(out EdgeQueryResult edgeQuery, transform1, hull1, transform2, hull2);
if (edgeQuery.Distance > 0)
{
return(false);
}
return(true);
}
public static int CreateFaceContact(ref NativeManifold output, int referenceFaceIndex, RigidTransform transform1, NativeHull hull1, int incidentFaceIndex, RigidTransform transform2, NativeHull hull2)
{
Debug.Assert(output.IsCreated);
var refPlane = hull1.GetPlane(referenceFaceIndex);
NativePlane referencePlane = transform1 * refPlane;
NativeList <ClipPlane> clippingPlanes = new NativeList <ClipPlane>((int)hull1.FaceCount, Allocator.Temp);
GetClippingPlanes(ref clippingPlanes, referencePlane, referenceFaceIndex, transform1, hull1);
// Create face polygon.
NativeList <ClipVertex> incidentPolygon = new NativeList <ClipVertex>((int)hull1.VertexCount, Allocator.Temp);
ComputeFaceClippingPolygon(ref incidentPolygon, incidentFaceIndex, transform2, hull2);
// Clip face polygon against the clipping planes.
for (int i = 0; i < clippingPlanes.Length; ++i)
{
NativeList <ClipVertex> outputPolygon = new NativeList <ClipVertex>((int)hull1.VertexCount, Allocator.Temp);
Clip(clippingPlanes[i], ref incidentPolygon, ref outputPolygon);
if (outputPolygon.Length == 0)
{
return(-1);
}
incidentPolygon.Dispose();
incidentPolygon = outputPolygon;
}
for (int i = 0; i < incidentPolygon.Length; ++i)
{
ClipVertex vertex = incidentPolygon[i];
float distance = referencePlane.Distance(vertex.position);
output.Add(vertex.position, distance, new ContactID {
FeaturePair = vertex.featurePair
});
}
clippingPlanes.Dispose();
incidentPolygon.Dispose();
return(incidentFaceIndex);
}
public static int CreateFaceContact2(ref NativeManifold output, int referenceFaceIndex, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
// todo, clean this up, i'm reversing the args here so that closest face is the one clipped instead of incident.
Debug.Assert(output.IsCreated);
NativePlane referencePlane = transform1 * hull1.GetPlane(referenceFaceIndex);
var incidentFaceIndex = ComputeIncidentFaceIndex(referencePlane, transform2, hull2);
return(CreateFaceContact(ref output, incidentFaceIndex, transform2, hull2, referenceFaceIndex, transform1, hull1));
}
public static bool NativeHullHullContact(out NativeManifold output, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
output = new NativeManifold(Allocator.Persistent);
// todo: collect faces and put them in combined manifold
for (int i = 0; i < hull2.FaceCount; i++)
{
var tmp = new NativeManifold(Allocator.Temp);
CreateFaceContact2(ref tmp, i, transform2, hull2, transform1, hull1);
HullDrawingUtility.DebugDrawManifold(tmp);
tmp.Dispose();
}
for (int i = 0; i < hull1.FaceCount; i++)
{
var tmp = new NativeManifold(Allocator.Temp);
CreateFaceContact2(ref tmp, i, transform1, hull1, transform2, hull2);
HullDrawingUtility.DebugDrawManifold(tmp);
tmp.Dispose();
}
return(true);
}
public static unsafe void b3CreateEdgeContact(ref NativeManifold output, EdgeQueryResult input, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
Debug.Assert(output.IsCreated);
ContactPoint cp = default;
if (input.Index1 < 0 || input.Index2 < 0)
{
return;
}
NativeHalfEdge *edge1 = hull1.GetEdgePtr(input.Index1);
NativeHalfEdge *twin1 = hull1.GetEdgePtr(edge1->Twin);
float3 P1 = math.transform(transform1, hull1.GetVertex(edge1->Origin));
float3 Q1 = math.transform(transform1, hull1.GetVertex(twin1->Origin));
float3 E1 = Q1 - P1;
NativeHalfEdge *edge2 = hull2.GetEdgePtr(input.Index2);
NativeHalfEdge *twin2 = hull2.GetEdgePtr(edge2->Twin);
float3 P2 = math.transform(transform1, hull2.GetVertex(edge2->Origin));
float3 Q2 = math.transform(transform1, hull2.GetVertex(twin2->Origin));
float3 E2 = Q2 - P2;
float3 normal = math.normalize(math.cross(Q1 - P1, Q2 - P2));
float3 C2C1 = transform2.pos - transform1.pos;
if (math.dot(normal, C2C1) < 0)
{
// Flip
output.Normal = -normal;
cp.Id.FeaturePair.InEdge1 = (sbyte)input.Index2;
cp.Id.FeaturePair.OutEdge1 = (sbyte)(input.Index2 + 1);
cp.Id.FeaturePair.InEdge2 = (sbyte)(input.Index1 + 1);
cp.Id.FeaturePair.OutEdge2 = (sbyte)input.Index1;
}
else
{
output.Normal = normal;
cp.Id.FeaturePair.InEdge1 = (sbyte)input.Index1;
cp.Id.FeaturePair.OutEdge1 = (sbyte)(input.Index1 + 1);
cp.Id.FeaturePair.InEdge2 = (sbyte)(input.Index2 + 1);
cp.Id.FeaturePair.OutEdge2 = (sbyte)input.Index2;
}
// Compute the closest points between the two edges (center point of penetration)
ClosestPointsSegmentSegment(P1, Q1, P2, Q2, out float3 C1, out float3 C2);
float3 position = 0.5f * (C1 + C2);
//// the closest points on each hull
//cp.positionOnTarget = Math3d.ProjectPointOnLineSegment(P2, Q2, C2);
//cp.positionOnSource = Math3d.ProjectPointOnLineSegment(P1, Q1, C1);
cp.Penetration = C1 - C2;
cp.Position = position;
cp.Distance = input.Distance;
output.Add(cp);
}
public static unsafe NativeHull CreateFromMesh(Mesh mesh)
{
var faces = new List <DetailedFaceDef>();
var verts = mesh.vertices.Select(RoundVertex).ToArray();
var uniqueVerts = verts.Distinct().ToList();
var indices = mesh.triangles;
// Create faces from Triangles and collapse multiple vertices with same position into shared vertices.
for (int i = 0; i < mesh.triangles.Length; i = i + 3)
{
var idx1 = i;
var idx2 = i + 1;
var idx3 = i + 2;
Vector3 p1 = verts[indices[idx1]];
Vector3 p2 = verts[indices[idx2]];
Vector3 p3 = verts[indices[idx3]];
var normal = normalize(cross(p3 - p2, p1 - p2));
// Round normal so that faces with only slight variances can be grouped properly together.
var roundedNormal = RoundVertex(normal);
faces.Add(new DetailedFaceDef
{
Center = ((p1 + p2 + p3) / 3),
Normal = roundedNormal,
Verts = new List <float3> {
p1, p2, p3
},
Indices = new List <int>
{
uniqueVerts.IndexOf(p1),
uniqueVerts.IndexOf(p2),
uniqueVerts.IndexOf(p3)
}
});
}
var faceDefs = new List <NativeFaceDef>();
var orphanIndices = new HashSet <int>();
// Merge all faces with the same normal and shared vertex
var mergedFaces = GroupBySharedVertex(GroupByNormal(faces));
foreach (var faceGroup in mergedFaces)
{
var indicesFromMergedFaces = faceGroup.SelectMany(face => face.Indices).ToArray();
// Collapse points inside the new combined face by using only the border vertices.
var border = PolygonPerimeter.CalculatePerimeter(indicesFromMergedFaces, ref uniqueVerts);
var borderIndices = border.Select(b => b.EndIndex).ToArray();
foreach (var idx in indicesFromMergedFaces.Except(borderIndices))
{
orphanIndices.Add(idx);
}
var v = stackalloc int[borderIndices.Length];
int max = 0;
for (int i = 0; i < borderIndices.Length; i++)
{
var idx = borderIndices[i];
if (idx > max)
{
max = idx;
}
v[i] = idx;
}
faceDefs.Add(new NativeFaceDef
{
highestIndex = max,
vertexCount = borderIndices.Length,
vertices = v,
});
}
// Remove vertices with no edges connected to them and fix all impacted face vertex references.
foreach (var orphanIdx in orphanIndices.OrderByDescending(i => i))
{
uniqueVerts.RemoveAt(orphanIdx);
foreach (var face in faceDefs.Where(f => f.highestIndex >= orphanIdx))
{
for (int i = 0; i < face.vertexCount; i++)
{
var faceVertIdx = face.vertices[i];
if (faceVertIdx >= orphanIdx)
{
face.vertices[i] = --faceVertIdx;
}
}
}
}
var result = new NativeHull();
using (var faceNative = new NativeArray <NativeFaceDef>(faceDefs.ToArray(), Allocator.Temp))
using (var vertsNative = new NativeArray <float3>(uniqueVerts.ToArray(), Allocator.Temp))
{
NativeHullDef hullDef;
hullDef.vertexCount = vertsNative.Length;
hullDef.verticesNative = vertsNative;
hullDef.faceCount = faceNative.Length;
hullDef.facesNative = faceNative;
SetFromFaces(ref result, hullDef);
}
result._isCreated = 1;
return(result);
}
public ref NativeHalfEdge GetTwin(NativeHull hull) => ref hull.GetEdgeRef(Twin);
public ref NativeHalfEdge GetPrev(NativeHull hull) => ref hull.GetEdgeRef(Prev);
public ref float3 GetNextOrigin(NativeHull hull) => ref GetNext(hull).GetOrigin(hull);
public static IEnumerable <float3> GetVertices(this NativeHull hull)
{
return(new HullAllEdgesEnumerator(hull).Select(v => v.GetOrigin(hull)));
}
public static IEnumerable <float3> GetVertices(this NativeHull hull, int faceIndex)
{
return(new HullFaceEdgesEnumerator(hull, faceIndex).Select(v => v.GetOrigin(hull)));
}
public static unsafe void QueryFaceDistance(out FaceQueryResult result, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
// Perform computations in the local space of the second hull.
RigidTransform transform = math.mul(math.inverse(transform2), transform1);
result.Distance = -float.MaxValue;
result.Index = -1;
for (int i = 0; i < hull1.FaceCount; ++i)
{
NativePlane plane = transform * hull1.GetPlane(i);
float3 support = hull2.GetSupport(-plane.Normal);
float distance = plane.Distance(support);
if (distance > result.Distance)
{
result.Distance = distance;
result.Index = i;
}
}
}
public static unsafe NativeHull CreateBox(float3 scale)
{
float3[] cubeVertices =
{
new float3(1, 1, -1),
new float3(-1, 1, -1),
new float3(-1, -1, -1),
new float3(1, -1, -1),
new float3(1, 1, 1),
new float3(-1, 1, 1),
new float3(-1, -1, 1),
new float3(1, -1, 1),
};
for (int i = 0; i < 8; ++i)
{
cubeVertices[i].x *= scale.x;
cubeVertices[i].y *= scale.y;
cubeVertices[i].z *= scale.z;
}
int *left = stackalloc int[] { 1, 2, 6, 5 };
int *right = stackalloc int[] { 4, 7, 3, 0 };
int *down = stackalloc int[] { 3, 7, 6, 2 };
int *up = stackalloc int[] { 0, 1, 5, 4 };
int *back = stackalloc int[] { 4, 5, 6, 7 };
int *front = stackalloc int[] { 0, 3, 2, 1 };
NativeFaceDef[] boxFaces =
{
new NativeFaceDef {
vertexCount = 4, vertices = left
},
new NativeFaceDef {
vertexCount = 4, vertices = right
},
new NativeFaceDef {
vertexCount = 4, vertices = down
},
new NativeFaceDef {
vertexCount = 4, vertices = up
},
new NativeFaceDef {
vertexCount = 4, vertices = back
},
new NativeFaceDef {
vertexCount = 4, vertices = front
},
};
var result = new NativeHull();
using (var boxFacesNative = new NativeArray <NativeFaceDef>(boxFaces, Allocator.Temp))
using (var cubeVertsNative = new NativeArray <float3>(cubeVertices, Allocator.Temp))
{
NativeHullDef hullDef;
hullDef.vertexCount = 8;
hullDef.verticesNative = cubeVertsNative;
hullDef.faceCount = 6;
hullDef.facesNative = boxFacesNative;
SetFromFaces(ref result, hullDef);
}
result._isCreated = 1;
return(result);
}
public static unsafe void QueryEdgeDistance(out EdgeQueryResult result, RigidTransform transform1, NativeHull hull1, RigidTransform transform2, NativeHull hull2)
{
// Perform computations in the local space of the second hull.
RigidTransform transform = math.mul(math.inverse(transform2), transform1);
float3 C1 = transform.pos;
result.Distance = -float.MaxValue;
result.Index1 = -1;
result.Index2 = -1;
for (int i = 0; i < hull1.EdgeCount; i += 2)
{
NativeHalfEdge *edge1 = hull1.GetEdgePtr(i);
NativeHalfEdge *twin1 = hull1.GetEdgePtr(i + 1);
Debug.Assert(edge1->Twin == i + 1 && twin1->Twin == i);
float3 P1 = math.transform(transform, hull1.GetVertex(edge1->Origin));
float3 Q1 = math.transform(transform, hull1.GetVertex(twin1->Origin));
float3 E1 = Q1 - P1;
float3 U1 = math.rotate(transform, hull1.GetPlane(edge1->Face).Normal);
float3 V1 = math.rotate(transform, hull1.GetPlane(twin1->Face).Normal);
for (int j = 0; j < hull2.EdgeCount; j += 2)
{
NativeHalfEdge *edge2 = hull2.GetEdgePtr(j);
NativeHalfEdge *twin2 = hull2.GetEdgePtr(j + 1);
Debug.Assert(edge2->Twin == j + 1 && twin2->Twin == j);
float3 P2 = hull2.GetVertex(edge2->Origin);
float3 Q2 = hull2.GetVertex(twin2->Origin);
float3 E2 = Q2 - P2;
float3 U2 = hull2.GetPlane(edge2->Face).Normal;
float3 V2 = hull2.GetPlane(twin2->Face).Normal;
if (IsMinkowskiFace(U1, V1, -E1, -U2, -V2, -E2))
{
float distance = Project(P1, E1, P2, E2, C1);
if (distance > result.Distance)
{
result.Index1 = i;
result.Index2 = j;
result.Distance = distance;
}
}
}
}
}
public ref NativeFace GetFace(NativeHull hull) => ref hull.GetFaceRef(Face);
public ref NativeHalfEdge GetNext(NativeHull hull) => ref hull.GetEdgeRef(Next);
/// <summary>
/// Populates a list with transformed face planes
/// </summary>
public static unsafe void GetClippingPlanes(ref NativeList <ClipPlane> output, NativePlane facePlane, int faceIndex, RigidTransform transform, NativeHull hull)
{
Debug.Assert(output.IsCreated);
for (int i = 0; i < hull.FaceCount; i++)
{
var p = hull.GetPlane(i);
output.Add(new ClipPlane
{
plane = transform * p,
});
}
}
public ref float3 GetOrigin(NativeHull hull) => ref hull.GetVertexRef(Origin);
/// <summary>
/// Populates a list with transformed face vertices.
/// </summary>
public static unsafe void ComputeFaceClippingPolygon(ref NativeList <ClipVertex> output, int faceIndex, RigidTransform t, NativeHull hull)
{
Debug.Assert(output.IsCreated);
NativeFace * face = hull.GetFacePtr(faceIndex);
NativePlane plane = hull.GetPlane(faceIndex);
NativeHalfEdge *start = hull.GetEdgePtr(face->Edge);
NativeHalfEdge *current = start;
do
{
NativeHalfEdge *twin = hull.GetEdgePtr(current->Twin);
float3 vertex = hull.GetVertex(current->Origin);
float3 P = math.transform(t, vertex);
ClipVertex clipVertex;
clipVertex.featurePair.InEdge1 = -1;
clipVertex.featurePair.OutEdge1 = -1;
clipVertex.featurePair.InEdge2 = (sbyte)current->Next;
clipVertex.featurePair.OutEdge2 = (sbyte)twin->Twin;
clipVertex.position = P;
clipVertex.hull2local = vertex;
clipVertex.plane = plane;
output.Add(clipVertex);
current = hull.GetEdgePtr(current->Next);
} while (current != start);
}
public ref float3 GetTwinOrigin(NativeHull hull) => ref GetTwin(hull).GetOrigin(hull);
public unsafe static void SetFromFaces(ref NativeHull hull, NativeHullDef def)
{
Debug.Assert(def.faceCount > 0);
Debug.Assert(def.vertexCount > 0);
hull.vertexCount = def.vertexCount;
var arr = def.verticesNative.ToArray();
hull.verticesNative = new NativeArrayNoLeakDetection <float3>(arr, Allocator.Persistent);
hull.vertices = (float3 *)hull.verticesNative.GetUnsafePtr();
hull.faceCount = def.faceCount;
hull.facesNative = new NativeArrayNoLeakDetection <NativeFace>(hull.faceCount, Allocator.Persistent);
hull.faces = (NativeFace *)hull.facesNative.GetUnsafePtr();
// Initialize all faces by assigning -1 to each edge reference.
for (int k = 0; k < def.faceCount; ++k)
{
NativeFace *f = hull.faces + k;
f->edge = -1;
}
CreateFacesPlanes(ref hull, ref def);
var edgeMap = new Dictionary <(int v1, int v2), int>();
var edgesList = new NativeHalfEdge[10000]; // todo lol
// Loop through all faces.
for (int i = 0; i < def.faceCount; ++i)
{
NativeFaceDef face = def.facesNative[i];
int vertCount = face.vertexCount;
Debug.Assert(vertCount >= 3);
int *vertices = face.vertices;
var faceHalfEdges = new List <int>();
// Loop through all face edges.
for (int j = 0; j < vertCount; ++j)
{
int v1 = vertices[j];
int v2 = j + 1 < vertCount ? vertices[j + 1] : vertices[0];
bool edgeFound12 = edgeMap.TryGetValue((v1, v2), out int iter12);
bool edgeFound21 = edgeMap.ContainsKey((v2, v1));
Debug.Assert(edgeFound12 == edgeFound21);
if (edgeFound12)
{
// The edge is shared by two faces.
int e12 = iter12;
// Link adjacent face to edge.
if (edgesList[e12].face == -1)
{
edgesList[e12].face = i;
}
else
{
throw new Exception("Two shared edges can't have the same vertices in the same order");
}
if (hull.faces[i].edge == -1)
{
hull.faces[i].edge = e12;
}
faceHalfEdges.Add(e12);
}
else
{
// The next edge of the current half edge in the array is the twin edge.
int e12 = hull.edgeCount++;
int e21 = hull.edgeCount++;
if (hull.faces[i].edge == -1)
{
hull.faces[i].edge = e12;
}
faceHalfEdges.Add(e12);
edgesList[e12].prev = -1;
edgesList[e12].next = -1;
edgesList[e12].twin = e21;
edgesList[e12].face = i;
edgesList[e12].origin = v1;
edgesList[e21].prev = -1;
edgesList[e21].next = -1;
edgesList[e21].twin = e12;
edgesList[e21].face = -1;
edgesList[e21].origin = v2;
// Add edges to map.
edgeMap[(v1, v2)] = e12;
public ref NativeHalfEdge AsRef(NativeHull hull) => ref GetTwin(hull).GetTwin(hull);
/// <summary>
/// Finds the index to the least parallel face on the other hull.
/// </summary>
/// <param name="facePlane"></param>
/// <param name="transform"></param>
/// <param name="hull"></param>
/// <returns></returns>
public static unsafe int ComputeIncidentFaceIndex(NativePlane facePlane, RigidTransform transform, NativeHull hull)
{
int faceIndex = 0;
float min = math.dot(facePlane.Normal, (transform * hull.GetPlane(faceIndex)).Normal);
for (int i = 1; i < hull.FaceCount; ++i)
{
float dot = math.dot(facePlane.Normal, (transform * hull.GetPlane(i)).Normal);
if (dot < min)
{
min = dot;
faceIndex = i;
}
}
return(faceIndex);
}
