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;
}
}
// Test input against the broadphase tree, filling allHits with the body indices of every overlap.
// Returns true if there was at least overlap.
public bool OverlapAabb(OverlapAabbInput input, ref NativeList <int> allHits)
{
int hitsBefore = allHits.Length;
Broadphase.OverlapAabb(input, m_Bodies, ref allHits);
return(allHits.Length > hitsBefore);
}
private static unsafe void AabbMesh <T>(OverlapAabbInput input, [NoAlias] MeshCollider *mesh, [NoAlias] ref T collector)
where T : struct, IOverlapCollector
{
var leafProcessor = new MeshLeafProcessor(mesh);
mesh->Mesh.BoundingVolumeHierarchy.AabbOverlap(input, ref leafProcessor, ref collector);
leafProcessor.Flush(ref collector);
}
public unsafe void AabbLeaf <T>(OverlapAabbInput input, int rigidBodyIndex, ref T collector)
where T : struct, IOverlapCollector
{
rigidBodyIndex += BaseRigidBodyIndex;
RigidBody body = m_Bodies[rigidBodyIndex];
if (body.Collider.IsCreated && CollisionFilter.IsCollisionEnabled(input.Filter, body.Collider.Value.Filter))
{
collector.AddRigidBodyIndices(&rigidBodyIndex, 1);
}
}
// Test broadphase nodes against the aabb in input. For any overlapping
// tree leaves, put the body indices into the output leafIndices.
public void OverlapAabb(OverlapAabbInput input, NativeArray <RigidBody> rigidBodies, ref NativeList <int> rigidBodyIndices)
{
if (input.Filter.IsEmpty)
{
return;
}
var leafProcessor = new BvhLeafProcessor(rigidBodies);
var leafCollector = new RigidBodyOverlapsCollector {
RigidBodyIndices = rigidBodyIndices
};
leafProcessor.BaseRigidBodyIndex = m_DynamicTree.NumBodies;
m_StaticTree.BoundingVolumeHierarchy.AabbOverlap(input, ref leafProcessor, ref leafCollector);
leafProcessor.BaseRigidBodyIndex = 0;
m_DynamicTree.BoundingVolumeHierarchy.AabbOverlap(input, ref leafProcessor, ref leafCollector);
}
public void AabbLeaf <T>(OverlapAabbInput input, int primitiveKey, [NoAlias] ref T collector) where T : struct, IOverlapCollector
{
fixed(uint *keys = m_Keys)
{
keys[m_NumKeys++] = new ColliderKey(m_NumColliderKeyBits, (uint)(primitiveKey << 1)).Value;
Mesh.PrimitiveFlags flags = m_Mesh->GetPrimitiveFlags(primitiveKey);
if (Mesh.IsPrimitiveFlagSet(flags, Mesh.PrimitiveFlags.IsTrianglePair) &&
!Mesh.IsPrimitiveFlagSet(flags, Mesh.PrimitiveFlags.IsQuad))
{
keys[m_NumKeys++] = new ColliderKey(m_NumColliderKeyBits, (uint)(primitiveKey << 1) | 1).Value;
}
}
if (m_NumKeys > k_MaxKeys - 8)
{
Flush(ref collector);
}
}
public void AabbLeaf <T>(OverlapAabbInput input, int childIndex, [NoAlias] ref T collector) where T : struct, IOverlapCollector
{
ColliderKey childKey = new ColliderKey(m_NumColliderKeyBits, (uint)(childIndex));
// Recurse if child is a composite
ref CompoundCollider.Child child = ref m_CompoundCollider->Children[childIndex];