public void CollisionFilterTest_LayerSelfCollision()
{
var filter0 = new CollisionFilter();
var filter1 = new CollisionFilter
{
BelongsTo = 1,
CollidesWith = 1
};
var filter2 = new CollisionFilter
{
BelongsTo = 0xffffffff,
CollidesWith = 0xffffffff
};
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter0, filter0));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(CollisionFilter.Zero, CollisionFilter.Zero));
Assert.IsTrue(filter0.Equals(CollisionFilter.Zero));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter1, filter1));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter2, filter2));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(CollisionFilter.Default, CollisionFilter.Default));
Assert.IsTrue(filter2.Equals(CollisionFilter.Default));
}
public void CollisionFilterTestLayerSelfCollision()
{
var filter0 = new CollisionFilter();
var filter1 = new CollisionFilter
{
MaskBits = 1,
CategoryBits = 1
};
var filter2 = new CollisionFilter
{
MaskBits = 0xffffffff,
CategoryBits = 0xffffffff
};
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter0, filter0));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(CollisionFilter.Zero, CollisionFilter.Zero));
Assert.IsTrue(filter0.Equals(CollisionFilter.Zero));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter1, filter1));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter2, filter2));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(CollisionFilter.Default, CollisionFilter.Default));
Assert.IsTrue(filter2.Equals(CollisionFilter.Default));
}
public static unsafe bool ColliderCollider <T>(ColliderCastInput input, Collider *target, ref T collector) where T : struct, ICollector <ColliderCastHit>
{
if (!CollisionFilter.IsCollisionEnabled(input.Collider->Filter, target->Filter))
{
return(false);
}
if (!input.QueryContext.IsInitialized)
{
input.QueryContext = QueryContext.DefaultContext;
}
switch (input.Collider->CollisionType)
{
case CollisionType.Convex:
switch (target->Type)
{
case ColliderType.Sphere:
case ColliderType.Capsule:
case ColliderType.Triangle:
case ColliderType.Quad:
case ColliderType.Box:
case ColliderType.Cylinder:
case ColliderType.Convex:
if (ConvexConvex(input, target, collector.MaxFraction, out ColliderCastHit hit))
{
return(collector.AddHit(hit));
}
return(false);
case ColliderType.Mesh:
return(ConvexMesh(input, (MeshCollider *)target, ref collector));
case ColliderType.Compound:
return(ConvexCompound(input, (CompoundCollider *)target, ref collector));
case ColliderType.Terrain:
return(ConvexTerrain(input, (TerrainCollider *)target, ref collector));
default:
SafetyChecks.ThrowNotImplementedException();
return(default);
}
case CollisionType.Composite:
case CollisionType.Terrain:
// no support for casting composite shapes
SafetyChecks.ThrowNotImplementedException();
return(default);
default:
SafetyChecks.ThrowNotImplementedException();
return(default);
}
}
/// <summary>
/// Variant of <see cref="TrimByFilter{T}(ref NativeList{T}, EntityManager, CollisionFilter)"/> to be used within a Job which does not have access to an <see cref="EntityManager"/>.
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="castResults"></param>
/// <param name="colliderData"></param>
/// <param name="filter"></param>
public unsafe static void TrimByFilter <T>(ref NativeList <T> castResults, ComponentDataFromEntity <PhysicsCollider> colliderData, CollisionFilter filter) where T : struct, IQueryResult
{
for (int i = (castResults.Length - 1); i >= 0; --i)
{
if (colliderData.HasComponent(castResults[i].Entity))
{
PhysicsCollider collider = colliderData[castResults[i].Entity];
if (CollisionFilter.IsCollisionEnabled(filter, collider.ColliderPtr->Filter))
{
continue;
}
}
castResults.RemoveAt(i);
}
}
public static unsafe bool ColliderCollider <T>(ColliderCastInput input, Collider *target, ref T collector) where T : struct, ICollector <ColliderCastHit>
{
if (!CollisionFilter.IsCollisionEnabled(input.Collider->Filter, target->Filter))
{
return(false);
}
switch (input.Collider->CollisionType)
{
case CollisionType.Convex:
switch (target->Type)
{
case ColliderType.Sphere:
case ColliderType.Capsule:
case ColliderType.Triangle:
case ColliderType.Quad:
case ColliderType.Box:
case ColliderType.Cylinder:
case ColliderType.Convex:
return(ConvexConvex(input, target, ref collector));
case ColliderType.Mesh:
return(ConvexMesh(input, (MeshCollider *)target, ref collector));
case ColliderType.Compound:
return(ConvexCompound(input, (CompoundCollider *)target, ref collector));
case ColliderType.Terrain:
return(ConvexTerrain(input, (TerrainCollider *)target, ref collector));
default:
throw new NotImplementedException();
}
case CollisionType.Composite:
case CollisionType.Terrain:
// no support for casting composite shapes
throw new NotImplementedException();
default:
throw new NotImplementedException();
}
}
public bool ColliderCastLeaf <T>(ColliderCastInput input, int primitiveKey, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
m_Mesh->GetPrimitive(primitiveKey, out float3x4 vertices, out Mesh.PrimitiveFlags flags, out CollisionFilter filter);
if (!CollisionFilter.IsCollisionEnabled(input.Collider->Filter, filter)) // TODO: could do this check within GetPrimitive()
{
return(false);
}
int numPolygons = Mesh.GetNumPolygonsInPrimitive(flags);
bool isQuad = Mesh.IsPrimitveFlagSet(flags, Mesh.PrimitiveFlags.IsQuad);
bool acceptHit = false;
int numHits = collector.NumHits;
var polygon = new PolygonCollider();
polygon.InitEmpty();
for (int polygonIndex = 0; polygonIndex < numPolygons; polygonIndex++)
{
float fraction = collector.MaxFraction;
if (isQuad)
{
polygon.SetAsQuad(vertices[0], vertices[1], vertices[2], vertices[3]);
}
else
{
polygon.SetAsTriangle(vertices[0], vertices[1 + polygonIndex], vertices[2 + polygonIndex]);
}
if (ConvexConvex(input, (Collider *)&polygon, ref collector))
{
acceptHit = true;
// TODO.ma make a version that doesn't transform, just updates collider key
collector.TransformNewHits(numHits++, fraction, MTransform.Identity, m_NumColliderKeyBits, (uint)(primitiveKey << 1 | polygonIndex));
}
}
return(acceptHit);
}
public bool ColliderCastLeaf <T>(ColliderCastInput input, int primitiveKey, ref T collector)
where T : struct, ICollector <ColliderCastHit>
{
m_Mesh->GetPrimitive(primitiveKey, out float3x4 vertices, out Mesh.PrimitiveFlags flags, out CollisionFilter filter);
if (!CollisionFilter.IsCollisionEnabled(input.Collider->Filter, filter)) // TODO: could do this check within GetPrimitive()
{
return(false);
}
int numPolygons = Mesh.GetNumPolygonsInPrimitive(flags);
bool isQuad = Mesh.IsPrimitveFlagSet(flags, Mesh.PrimitiveFlags.IsQuad);
bool acceptHit = false;
var polygon = new PolygonCollider();
polygon.InitEmpty();
for (int polygonIndex = 0; polygonIndex < numPolygons; polygonIndex++)
{
float fraction = collector.MaxFraction;
if (isQuad)
{
polygon.SetAsQuad(vertices[0], vertices[1], vertices[2], vertices[3]);
}
else
{
polygon.SetAsTriangle(vertices[0], vertices[1 + polygonIndex], vertices[2 + polygonIndex]);
}
if (ConvexConvex(input, (Collider *)&polygon, collector.MaxFraction, out ColliderCastHit hit))
{
hit.ColliderKey = input.QueryContext.SetSubKey(m_NumColliderKeyBits, (uint)(primitiveKey << 1 | polygonIndex));
acceptHit |= collector.AddHit(hit);
}
}
return(acceptHit);
}
public void Execute([ReadOnly] ref PhysicsCollider collider, [ReadOnly] ref Translation translation, [ReadOnly] ref Rotation rotation)
{
if (!CollisionFilter.IsCollisionEnabled(IncludeMask, collider.ColliderPtr->Filter))
{
return;
}
switch (collider.ColliderPtr->Type)
{
case ColliderType.Box:
case ColliderType.Triangle:
case ColliderType.Quad:
case ColliderType.Cylinder:
case ColliderType.Convex:
HandleConvex((ConvexCollider *)collider.ColliderPtr, ref translation, ref rotation);
break;
case ColliderType.Sphere:
break;
case ColliderType.Capsule:
break;
case ColliderType.Mesh:
HandleMesh((MeshCollider *)collider.ColliderPtr, ref translation, ref rotation);
break;
case ColliderType.Compound:
break;
case ColliderType.Terrain:
HandleTerrain((TerrainCollider *)collider.ColliderPtr, ref translation, ref rotation);
break;
default:
break;
}
}
public void CollisionFilterTest_GroupIndexSimple()
{
var filter0 = new CollisionFilter
{
GroupIndex = 1
};
var filter1 = new CollisionFilter
{
BelongsTo = 1,
CollidesWith = 1,
GroupIndex = -1
};
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter0, CollisionFilter.Zero));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter0, CollisionFilter.Default));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter1, CollisionFilter.Zero));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter1, CollisionFilter.Default));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter0, filter0));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter1, filter1));
}
public void CollisionFilterTest_BelongsToAndCollidesWithBits()
{
var filterA = new CollisionFilter
{
BelongsTo = 1,
CollidesWith = 2
};
var filterB = new CollisionFilter
{
BelongsTo = 2,
CollidesWith = 1
};
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filterA, filterA));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filterB, filterB));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filterA, filterB));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filterB, filterA));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filterA, CollisionFilter.Default));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filterB, CollisionFilter.Default));
}
public void CollisionFilterTestGroupIndexSimple()
{
var filter0 = new CollisionFilter
{
GroupIndex = 1
};
var filter1 = new CollisionFilter
{
MaskBits = 1,
CategoryBits = 1,
GroupIndex = -1
};
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter0, CollisionFilter.Zero));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter0, CollisionFilter.Default));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter1, CollisionFilter.Zero));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter1, CollisionFilter.Default));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter0, filter0));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter1, filter1));
}
public void CollisionFilterTestLayerAndCategoryBits()
{
var filterA = new CollisionFilter
{
MaskBits = 1,
CategoryBits = 2
};
var filterB = new CollisionFilter
{
MaskBits = 2,
CategoryBits = 1
};
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filterA, filterA));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filterB, filterB));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filterA, filterB));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filterB, filterA));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filterA, CollisionFilter.Default));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filterB, CollisionFilter.Default));
}
public void CollisionFilterTest_GroupIndex()
{
var filter0 = new CollisionFilter
{
GroupIndex = 1
};
var filter1 = new CollisionFilter
{
BelongsTo = 1,
CollidesWith = 1,
GroupIndex = -1
};
var filter2 = new CollisionFilter
{
BelongsTo = 1,
CollidesWith = 1,
GroupIndex = 1
};
var filter3 = new CollisionFilter
{
BelongsTo = 0,
CollidesWith = 0,
GroupIndex = -1
};
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter0, filter2));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter2, filter0));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter1, filter2));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter2, filter1));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter3, filter1));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter1, filter3));
}
public void CollisionFilterTestGroupIndex()
{
var filter0 = new CollisionFilter
{
GroupIndex = 1
};
var filter1 = new CollisionFilter
{
MaskBits = 1,
CategoryBits = 1,
GroupIndex = -1
};
var filter2 = new CollisionFilter
{
MaskBits = 1,
CategoryBits = 1,
GroupIndex = 1
};
var filter3 = new CollisionFilter
{
MaskBits = 0,
CategoryBits = 0,
GroupIndex = -1
};
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter0, filter2));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter2, filter0));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter1, filter2));
Assert.IsTrue(CollisionFilter.IsCollisionEnabled(filter2, filter1));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter3, filter1));
Assert.IsFalse(CollisionFilter.IsCollisionEnabled(filter1, filter3));
}
public unsafe void OverlapTaskFilteringTest([Values(2, 10, 33, 100)] int elementCount)
{
elementCount *= 2;
int numNodes = elementCount + Constants.MaxNumTreeBranches;
var points = new NativeArray <PointAndIndex>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var aabbs = new NativeArray <Aabb>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var bodyFilters = new NativeArray <CollisionFilter>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
InitInputWithCopyArrays(points, aabbs, bodyFilters);
var nodes = new NativeArray <Node>(numNodes, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
Node *nodesPtr = (Node *)nodes.GetUnsafePtr();
var seenUnfiltered = new HashSet <BodyIndexPair>();
{
var bvhUnfiltered = new BoundingVolumeHierarchy(nodes);
bvhUnfiltered.Build(points, aabbs, out int numNodesOut);
bvhUnfiltered.CheckIntegrity();
EverythingWriter pairWriter = new EverythingWriter {
SeenPairs = seenUnfiltered
};
BoundingVolumeHierarchy.TreeOverlap(ref pairWriter, nodesPtr, nodesPtr);
}
var nodeFilters = new NativeArray <CollisionFilter>(numNodes, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var bvhFiltered = new BoundingVolumeHierarchy(nodes, nodeFilters);
int numNodesFilteredTree;
bvhFiltered.Build(points, aabbs, out numNodesFilteredTree);
bvhFiltered.BuildCombinedCollisionFilter(bodyFilters, 0, numNodesFilteredTree - 1);
var filteredCollisionPairs = new BlockStream(1, 0xec87b613);
BlockStream.Writer filteredPairWriter = filteredCollisionPairs;
filteredPairWriter.BeginForEachIndex(0);
CollisionFilter *bodyFiltersPtr = (CollisionFilter *)bodyFilters.GetUnsafePtr();
var bufferedPairs = new Broadphase.BodyPairWriter(&filteredPairWriter, bodyFiltersPtr);
CollisionFilter *nodeFiltersPtr = (CollisionFilter *)nodeFilters.GetUnsafePtr();
BoundingVolumeHierarchy.TreeOverlap(ref bufferedPairs, nodesPtr, nodesPtr, nodeFiltersPtr, nodeFiltersPtr);
bufferedPairs.Close();
filteredPairWriter.EndForEachIndex();
BlockStream.Reader filteredPairReader = filteredCollisionPairs;
filteredPairReader.BeginForEachIndex(0);
// Check that every pair in our filtered set also appears in the unfiltered set
while (filteredPairReader.RemainingItemCount > 0)
{
var pair = filteredPairReader.Read <BodyIndexPair>();
Assert.IsTrue(seenUnfiltered.Contains(pair));
seenUnfiltered.Remove(pair); // Remove the pair
}
// Pairs were removed, so the only remaining ones should be filtered
foreach (BodyIndexPair pair in seenUnfiltered)
{
bool shouldCollide = CollisionFilter.IsCollisionEnabled(bodyFilters[pair.BodyAIndex], bodyFilters[pair.BodyBIndex]);
Assert.IsFalse(shouldCollide);
}
nodeFilters.Dispose();
nodes.Dispose();
bodyFilters.Dispose();
aabbs.Dispose();
points.Dispose();
filteredCollisionPairs.Dispose();
}
