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));
}
public static float4x4 GetBakeToShape(PhysicsShapeAuthoring shape, float3 center, EulerAngles orientation)
{
var transform = shape.transform;
var localToWorld = (float4x4)transform.localToWorldMatrix;
var shapeToWorld = shape.GetShapeToWorldMatrix();
return(GetBakeToShape(localToWorld, shapeToWorld, ref center, ref orientation));
}
internal static void GetBakedPlaneProperties(
this PhysicsShapeAuthoring shape, out float3 vertex0, out float3 vertex1, out float3 vertex2, out float3 vertex3
)
{
shape.GetPlaneProperties(out var center, out var size, out EulerAngles orientation);
BakeToBodySpace(
center, size, orientation, shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(),
out vertex0, out vertex1, out vertex2, out vertex3
);
}
internal static void GetBakedConvexProperties(
this PhysicsShapeAuthoring shape, NativeList <float3> pointCloud, out ConvexHullGenerationParameters generationParameters,
out Hash128 hashedInputs
)
{
using (var inputs = new NativeList <HashableShapeInputs>(8, Allocator.TempJob))
using (var allSkinIndices = new NativeList <int>(4096, Allocator.TempJob))
using (var allBlendShapeWeights = new NativeList <float>(64, Allocator.TempJob))
{
shape.GetConvexHullProperties(pointCloud, true, inputs, allSkinIndices, allBlendShapeWeights);
shape.BakePoints(pointCloud);
// compute convex radius
var center = float3.zero;
var orientation = EulerAngles.Default;
var localToWorld = shape.transform.localToWorldMatrix;
var shapeToWorld = shape.GetShapeToWorldMatrix();
var bakeToShape =
GetPrimitiveBakeToShapeMatrix(localToWorld, shapeToWorld, ref center, ref orientation, 1f, k_DefaultAxisPriority);
using (var aabb = new NativeArray <Aabb>(1, Allocator.TempJob))
{
new GetAabbJob {
Points = pointCloud, Aabb = aabb
}.Run();
HashableShapeInputs.GetQuantizedTransformations(bakeToShape, aabb[0], out bakeToShape);
}
var s = new float3(math.length(bakeToShape[0]), math.length(bakeToShape[1]), math.length(bakeToShape[2]));
generationParameters = shape.ConvexHullGenerationParameters;
generationParameters.SimplificationTolerance = math.max(
ConvexHullGenerationParametersExtensions.k_MinRecommendedSimplificationTolerance,
math.cmax(s) * generationParameters.SimplificationTolerance
);
generationParameters.BevelRadius *= math.cmin(s);
using (var hash = new NativeArray <Hash128>(1, Allocator.TempJob))
{
var job = new GetShapeInputsHashJob
{
Result = hash,
ForceUniqueIdentifier = (uint)(shape.ForceUnique ? shape.GetInstanceID() : 0),
GenerationParameters = generationParameters,
Material = shape.GetMaterial(),
CollisionFilter = shape.GetFilter(),
BakeFromShape = shape.GetLocalToShapeMatrix(),
Inputs = inputs,
AllSkinIndices = allSkinIndices,
AllBlendShapeWeights = allBlendShapeWeights
};
job.Run();
hashedInputs = hash[0];
}
}
}
// matrix to transform point on a primitive from bake space into space of the shape
static float4x4 GetPrimitiveBakeToShapeMatrix(
PhysicsShapeAuthoring shape, ref float3 center, ref EulerAngles orientation, float3 scale, int3 basisPriority
)
{
if (
basisPriority.x == basisPriority.y ||
basisPriority.x == basisPriority.z ||
basisPriority.y == basisPriority.z
)
{
throw new ArgumentException(nameof(basisPriority));
}
var localToBasis = float4x4.TRS(center, orientation, scale);
// correct for imprecision in cases of no scale to prevent e.g., convex radius from being altered
if (scale.Equals(new float3(1f)))
{
localToBasis.c0 = math.normalizesafe(localToBasis.c0);
localToBasis.c1 = math.normalizesafe(localToBasis.c1);
localToBasis.c2 = math.normalizesafe(localToBasis.c2);
}
var localToBake = math.mul(shape.transform.localToWorldMatrix, localToBasis);
if (localToBake.HasNonUniformScale() || localToBake.HasShear())
{
// deskew second longest axis with respect to longest axis
localToBake[basisPriority[1]] =
DeskewSecondaryAxis(localToBake[basisPriority[0]], localToBake[basisPriority[1]]);
// recompute third axes from first two
var n2 = math.normalizesafe(
new float4(math.cross(localToBake[basisPriority[0]].xyz, localToBake[basisPriority[1]].xyz), 0f)
);
localToBake[basisPriority[2]] = n2 * math.dot(localToBake[basisPriority[2]], n2);
}
var bakeToShape = math.mul(math.inverse(shape.GetShapeToWorldMatrix()), localToBake);
// transform baked center/orientation (i.e. primitive basis) into shape space
orientation.SetValue(
quaternion.LookRotationSafe(bakeToShape[basisPriority[0]].xyz, bakeToShape[basisPriority[1]].xyz)
);
center = bakeToShape.c3.xyz;
return(bakeToShape);
}
internal static void SetBakedSphereRadius(this PhysicsShapeAuthoring shape, float radius)
{
var sphere = shape.GetSphereProperties(out EulerAngles eulerAngles);
var center = sphere.Center;
radius = math.abs(radius);
var basisToWorld = GetBasisToWorldMatrix(shape.transform.localToWorldMatrix, center, eulerAngles, 1f);
var basisPriority = basisToWorld.HasShear() ? GetBasisAxisPriority(basisToWorld) : k_DefaultAxisPriority;
var bakeToShape = GetPrimitiveBakeToShapeMatrix(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), ref center, ref eulerAngles, 1f, basisPriority);
var scale = math.cmax(bakeToShape.DecomposeScale());
var newRadius = radius / scale;
sphere.Radius = newRadius;
shape.SetSphere(sphere);
}
internal static SphereGeometry GetBakedSphereProperties(this PhysicsShapeAuthoring shape, out EulerAngles orientation)
{
var sphere = shape.GetSphereProperties(out orientation);
return(sphere.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), ref orientation));
}
internal static CylinderGeometry GetBakedCylinderProperties(this PhysicsShapeAuthoring shape)
{
var cylinder = shape.GetCylinderProperties(out var orientation);
return(cylinder.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), orientation));
}
internal static CapsuleGeometryAuthoring GetBakedCapsuleProperties(this PhysicsShapeAuthoring shape)
{
var capsule = shape.GetCapsuleProperties();
return(capsule.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix()));
}
internal static BoxGeometry GetBakedBoxProperties(this PhysicsShapeAuthoring shape)
{
var box = shape.GetBoxProperties(out var orientation);
return(box.BakeToBodySpace(shape.transform.localToWorldMatrix, shape.GetShapeToWorldMatrix(), orientation));
}
