internal static CapsuleGeometry GetBakedCapsuleProperties(
this PhysicsShapeAuthoring shape, out float3 center, out float height, out EulerAngles orientation
)
{
var capsule = shape.GetCapsuleProperties(out orientation);
return(capsule.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), out center, out height, ref orientation));
}
internal static CapsuleGeometry GetBakedCapsuleProperties(
this PhysicsShapeAuthoring shape,
out float3 center, out float height, out EulerAngles orientation
)
{
var capsule = shape.GetCapsuleProperties(out orientation);
var radius = capsule.Radius;
center = capsule.GetCenter();
height = capsule.GetHeight();
var s = new float3(radius * 2f, radius * 2f, height);
var localToWorld = (float4x4)shape.transform.localToWorldMatrix;
var basisToWorld = GetBasisToWorldMatrix(localToWorld, center, orientation, s);
var basisPriority = k_DefaultAxisPriority;
var sheared = localToWorld.HasShear();
if (localToWorld.HasNonUniformScale() || sheared)
{
if (sheared)
{
basisPriority = GetBasisAxisPriority(basisToWorld);
}
MakeZAxisPrimaryBasis(ref basisPriority);
}
var bakeToShape = GetPrimitiveBakeToShapeMatrix(shape, ref center, ref orientation, 1f, basisPriority);
height *= math.length(bakeToShape.c2);
radius *= math.max(math.length(bakeToShape.c0), math.length(bakeToShape.c1));
var axis = math.mul(orientation, new float3 {
z = 1f
});
var endPoint = axis * math.max(0f, 0.5f * height - radius);
return(new CapsuleGeometry
{
Vertex0 = center + endPoint,
Vertex1 = center - endPoint,
Radius = radius
});
}
internal static void SetBakedCapsuleSize(this PhysicsShapeAuthoring shape, float height, float radius)
{
var capsule = shape.GetCapsuleProperties();
var center = capsule.Center;
var bakeToShape = BakeCapsuleJob.GetBakeToShape(shape, center, capsule.OrientationEuler);
var scale = bakeToShape.DecomposeScale();
var newRadius = radius / math.cmax(scale.xy);
if (math.abs(capsule.Radius - newRadius) > kMinimumChange)
{
capsule.Radius = newRadius;
}
height /= scale.z;
if (math.abs(math.length(capsule.Height - height)) > kMinimumChange)
{
capsule.Height = height;
}
shape.SetCapsule(capsule);
}
internal static CapsuleGeometryAuthoring GetBakedCapsuleProperties(this PhysicsShapeAuthoring shape)
{
var capsule = shape.GetCapsuleProperties();
return(capsule.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix()));
}