public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
float4 center = shape.center * transform.scale;
point = transform.InverseTransformPointUnscaled(point) - center;
if (shape.is2D != 0)
{
point[2] = 0;
}
int direction = (int)shape.size.z;
float radius = shape.size.x * math.max(transform.scale[(direction + 1) % 3],
transform.scale[(direction + 2) % 3]);
float height = math.max(radius, shape.size.y * 0.5f * transform.scale[direction]);
float4 halfVector = float4.zero;
halfVector[direction] = height - radius;
float4 centerLine = BurstMath.NearestPointOnEdge(-halfVector, halfVector, point, out float mu);
float4 centerToPoint = point - centerLine;
float distanceToCenter = math.length(centerToPoint);
float4 normal = centerToPoint / (distanceToCenter + BurstMath.epsilon);
projectedPoint.point = transform.TransformPointUnscaled(center + centerLine + normal * (radius + shape.contactOffset));
projectedPoint.normal = transform.TransformDirection(normal);
}
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
point = transform.InverseTransformPoint(point);
float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary);
float4 normal = math.normalizesafe(point - nearestPoint);
// flip the contact normal if it points below ground:
BurstMath.OneSidedNormal(triNormal, ref normal);
projectedPoint.point = transform.TransformPoint(nearestPoint + normal * shape.contactOffset);
projectedPoint.normal = transform.TransformDirection(normal);
}
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
switch (simplexSize)
{
case 1:
{
float4 p1 = positions[simplices[simplexStart]];
projectedPoint.bary = new float4(1, 0, 0, 0);
projectedPoint.point = p1;
}
break;
case 2:
{
float4 p1 = positions[simplices[simplexStart]];
float4 p2 = positions[simplices[simplexStart + 1]];
BurstMath.NearestPointOnEdge(p1, p2, point, out float mu);
projectedPoint.bary = new float4(1 - mu, mu, 0, 0);
projectedPoint.point = p1 * projectedPoint.bary[0] + p2 * projectedPoint.bary[1];
} break;
case 3:
projectedPoint.point = BurstMath.NearestPointOnTri(tri, point, out projectedPoint.bary);
break;
}
projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
/*float radius1 = radii[simplices[simplexStart]].x;
* float radius2 = radii[simplices[simplexStart+1]].x;
*
* float invLen2 = 1.0f / math.lengthsq(p1 - p2);
* float dl = (radius1 - radius2) * invLen2;
* float sl = math.sqrt(1.0f / invLen2 - math.pow(radius1 - radius2, 2)) * math.sqrt(invLen2);
* float adj_radii1 = radius1 * sl;
* float adj_radii2 = radius2 * sl;
*
* float trange1 = radius1 * dl;
* float trange2 = 1 + radius2 * dl;
*
* float adj_t = (mu - trange1) / (trange2 - trange1);
* float radius = adj_radii1 + adj_t * (adj_radii2 - adj_radii1);
*
* float4 centerToPoint = point - centerLine;
* float4 normal = centerToPoint / (math.length(centerToPoint) + BurstMath.epsilon);
*
* projectedPoint.point = centerLine + normal * radius;
* projectedPoint.normal = normal;*/
}
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
point = transform.InverseTransformPointUnscaled(point);
if (shape.is2D != 0)
{
point[2] = 0;
}
float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary);
float4 normal = math.normalizesafe(point - nearestPoint);
projectedPoint.point = transform.TransformPointUnscaled(nearestPoint + normal * shape.contactOffset);
projectedPoint.normal = transform.TransformDirection(normal);
}
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
point = transform.InverseTransformPoint(point);
if (shape.is2D != 0)
{
point[2] = 0;
}
var header = distanceFieldHeaders[shape.dataIndex];
float4 sample = DFTraverse(point, 0, in header, in dfNodes);
float4 normal = new float4(math.normalize(sample.xyz), 0);
projectedPoint.point = transform.TransformPoint(point - normal * (sample[3] - shape.contactOffset));
projectedPoint.normal = transform.TransformDirection(normal);
}
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
float4 center = shape.center * transform.scale;
float4 size = shape.size * transform.scale * 0.5f;
// clamp the point to the surface of the box:
point = transform.InverseTransformPointUnscaled(point) - center;
if (shape.is2D != 0)
{
point[2] = 0;
}
// get minimum distance for each axis:
float4 distances = size - math.abs(point);
if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
{
// find minimum distance in all three axes and the axis index:
float min = float.MaxValue;
int axis = 0;
for (int i = 0; i < 3; ++i)
{
if (distances[i] < min)
{
min = distances[i];
axis = i;
}
}
projectedPoint.normal = float4.zero;
projectedPoint.point = point;
projectedPoint.normal[axis] = point[axis] > 0 ? 1 : -1;
projectedPoint.point[axis] = size[axis] * projectedPoint.normal[axis];
}
else
{
projectedPoint.point = math.clamp(point, -size, size);
projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
}
projectedPoint.point = transform.TransformPointUnscaled(projectedPoint.point + center + projectedPoint.normal * shape.contactOffset);
projectedPoint.normal = transform.TransformDirection(projectedPoint.normal);
}
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
point = transform.InverseTransformPointUnscaled(point);
if (shape.is2D != 0)
{
point[2] = 0;
}
Edge t = edges[header.firstEdge + dataOffset];
float4 v1 = (new float4(vertices[header.firstVertex + t.i1], 0) + shape.center) * transform.scale;
float4 v2 = (new float4(vertices[header.firstVertex + t.i2], 0) + shape.center) * transform.scale;
float4 nearestPoint = BurstMath.NearestPointOnEdge(v1, v2, point, out float mu);
float4 normal = math.normalizesafe(point - nearestPoint);
projectedPoint.normal = transform.TransformDirection(normal);
projectedPoint.point = transform.TransformPointUnscaled(nearestPoint + normal * shape.contactOffset);
}
public void Evaluate(float4 point, ref BurstLocalOptimization.SurfacePoint projectedPoint)
{
float4 center = shape.center * transform.scale;
point = transform.InverseTransformPointUnscaled(point) - center;
if (shape.is2D != 0)
{
point[2] = 0;
}
float radius = shape.size.x * math.cmax(transform.scale.xyz);
float distanceToCenter = math.length(point);
float4 normal = point / (distanceToCenter + BurstMath.epsilon);
projectedPoint.point = transform.TransformPointUnscaled(center + normal * (radius + shape.contactOffset));
projectedPoint.normal = transform.TransformDirection(normal);
}
