public bool EstimateAttraction(ProxyForceFieldPrimitivePosed other)
{
var centerDist = (Pose.position - other.Pose.position).magnitude;
var maxRadius = (Primitive.MaxRadius + other.Primitive.MaxRadius);
return(centerDist < (maxRadius * 3));
}
public static bool DecollisionVector(ProxyForceFieldPrimitivePosed a, ProxyForceFieldPrimitivePosed b, out Vector3 dir)
{
var colliderA = ConfigTempCollider(0, a.Primitive);
var colliderB = ConfigTempCollider(1, b.Primitive);
var res = UnityEngine.Physics.ComputePenetration(
colliderA, a.Pose.position, a.Pose.rotation,
colliderB, b.Pose.position, b.Pose.rotation,
out dir, out float dist);
dir *= dist; // direction is normalized until scaled by distance
ReleaseTempCollider(colliderA);
ReleaseTempCollider(colliderB);
return(res);
}
public void TestPrimitives()
{
ProxyForceFieldPrimitive prim = ProxyForceFieldPrimitive.Default;
Assert.True(prim.primitiveType == ProxyForceFieldPrimitive.FieldPrimitiveType.Box);
{
var s2 = prim.SampleDistanceVectorFromPointLocal(new Vector3(1.5f, 0, 0), ProxyForceFieldPrimitive.ShapeSample.Fill);
Assert.True(s2.HasSample);
AssertNear(s2.Distance, 1.0f);
AssertNear(s2.ToSurface, new Vector3(-1, 0, 0));
AssertNear(Mathf.Abs(s2.Distance), s2.ToSurface.magnitude);
}
{
var s2 = prim.SampleDistanceVectorFromPointLocal(new Vector3(1.0f, 0, 0), ProxyForceFieldPrimitive.ShapeSample.Edge);
Assert.True(s2.HasSample);
AssertNear(s2.Distance, Mathf.Sqrt(2.0f) * 0.5f);
}
{
var testPnt = Vector3.one * 1.5f;
var s2 = prim.SampleDistanceVectorFromPointLocal(testPnt, ProxyForceFieldPrimitive.ShapeSample.Fill);
Assert.True(s2.HasSample);
AssertNear(Mathf.Abs(s2.Distance), s2.ToSurface.magnitude);
AssertNear(s2.ToSurface, Vector3.one * -1.0f);
AssertNear(s2.Distance, Vector3.one.magnitude);
}
{
var primPose = new Pose(new Vector3(5, 0, 0), Quaternion.identity);
ProxyForceFieldPrimitivePosed posed = new ProxyForceFieldPrimitivePosed(prim, primPose);
var s2 = posed.SampleDistanceFieldWorld(new Vector3(6.0f, 0, 0), ProxyForceFieldPrimitive.ShapeSample.Fill);
Assert.True(s2.HasSample);
AssertNear(s2.Distance, 0.5f);
}
}
public bool TryDecollisionSample(ProxyForceFieldPrimitivePosed other, out Vector3 movement)
{
return(DecollisionSystem.DecollisionVector(this, other, out movement));
}