private void SetPlanes()
{
BlobArray.Accessor <float3> hullVertices = ConvexHull.Vertices;
float3 cross = math.cross(
hullVertices[1] - hullVertices[0],
hullVertices[2] - hullVertices[0]);
float dot = math.dot(cross, hullVertices[0]);
float invLengthCross = math.rsqrt(math.lengthsq(cross));
Plane plane = new Plane(cross * invLengthCross, -dot * invLengthCross);
ConvexHull.Planes[0] = plane;
ConvexHull.Planes[1] = plane.Flipped;
}
// Build mass properties representing a union of all the child collider mass properties.
// This assumes a uniform density for all children, and returns a mass properties for a compound of unit mass.
private unsafe MassProperties BuildMassProperties()
{
BlobArray.Accessor <Child> children = Children;
// Calculate combined center of mass
float3 combinedCenterOfMass = float3.zero;
float combinedVolume = 0.0f;
for (int i = 0; i < NumChildren; ++i)
{
ref Child child = ref children[i];
var mp = child.Collider->MassProperties;
// weight this contribution by its volume (=mass)
combinedCenterOfMass += math.transform(child.CompoundFromChild, mp.MassDistribution.Transform.pos) * mp.Volume;
combinedVolume += mp.Volume;
}
// Build mass properties representing a union of all the child collider mass properties.
// This assumes a uniform density for all children, and returns a mass properties for a compound of unit mass.
private unsafe MassProperties BuildMassProperties()
{
BlobArray.Accessor <Child> children = Children;
// Check if all children are triggers or have collisions disabled.
// If so, we'll include them in mass properties of the compound collider.
// This is mostly targeted for single collider compounds, as they should behave
// the same as when there is no compound.
bool skipTriggersAndDisabledColliders = false;
{
for (int i = 0; i < NumChildren; ++i)
{
ref Child child = ref children[i];
var convexChildCollider = (ConvexCollider *)child.Collider;
if (child.Collider->CollisionType == CollisionType.Convex &&
(convexChildCollider->Material.CollisionResponse != CollisionResponsePolicy.RaiseTriggerEvents &&
convexChildCollider->Material.CollisionResponse != CollisionResponsePolicy.None))
{
// If there are children with regular collisions, all triggers and disabled colliders should be skipped
skipTriggersAndDisabledColliders = true;
break;
}
}
}
