unsafe void Init(CollisionFilter filter, Material material)
{
m_Header.CollisionType = CollisionType.Convex;
m_Header.Version = 0;
m_Header.Magic = 0xff;
m_Header.Filter = filter;
m_Header.Material = material;
ConvexHull.ConvexRadius = 0.0f;
fixed(PolygonCollider *collider = &this)
{
ConvexHull.VerticesBlob.Offset = UnsafeEx.CalculateOffset(ref collider->m_Vertices[0], ref ConvexHull.VerticesBlob);
ConvexHull.VerticesBlob.Length = 4;
ConvexHull.FacePlanesBlob.Offset = UnsafeEx.CalculateOffset(ref collider->m_FacePlanes[0], ref ConvexHull.FacePlanesBlob);
ConvexHull.FacePlanesBlob.Length = 2;
ConvexHull.FacesBlob.Offset = UnsafeEx.CalculateOffset(ref collider->m_Faces[0], ref ConvexHull.FacesBlob);
ConvexHull.FacesBlob.Length = 2;
ConvexHull.FaceVertexIndicesBlob.Offset = UnsafeEx.CalculateOffset(ref collider->m_FaceVertexIndices[0], ref ConvexHull.FaceVertexIndicesBlob);
ConvexHull.FaceVertexIndicesBlob.Length = 8;
// No connectivity needed
ConvexHull.VertexEdgesBlob.Offset = 0;
ConvexHull.VertexEdgesBlob.Length = 0;
ConvexHull.FaceLinksBlob.Offset = 0;
ConvexHull.FaceLinksBlob.Length = 0;
}
}
// Create a joint asset with the given constraints
public static unsafe BlobAssetReference <JointData> Create(MTransform aFromJoint, MTransform bFromJoint, Constraint[] constraints)
{
// Allocate
int totalSize = sizeof(JointData) + sizeof(Constraint) * constraints.Length;
JointData *jointData = (JointData *)UnsafeUtility.Malloc(totalSize, 16, Allocator.Temp);
UnsafeUtility.MemClear(jointData, totalSize);
// Initialize
{
jointData->AFromJoint = aFromJoint;
jointData->BFromJoint = bFromJoint;
jointData->Version = 1;
byte *end = (byte *)jointData + sizeof(JointData);
jointData->m_ConstraintsBlob.Offset = UnsafeEx.CalculateOffset(end, ref jointData->m_ConstraintsBlob);
jointData->m_ConstraintsBlob.Length = constraints.Length;
for (int i = 0; i < constraints.Length; i++)
{
jointData->Constraints[i] = constraints[i];
}
}
var blob = BlobAssetReference <JointData> .Create(jointData, totalSize);
UnsafeUtility.Free(jointData, Allocator.Temp);
return(blob);
}
