public unsafe void CylinderCollider_Create_ResultHasExpectedValues()
{
var geometry = new CylinderGeometry
{
Center = new float3(-10.10f, 10.12f, 0.01f),
Orientation = quaternion.AxisAngle(math.normalize(new float3(1.4f, 0.2f, 1.1f)), 38.50f),
Height = 2f,
Radius = 0.25f,
BevelRadius = 0.05f,
SideCount = 10
};
var collider = CylinderCollider.Create(geometry);
var cylinderCollider = UnsafeUtility.AsRef <CylinderCollider>(collider.GetUnsafePtr());
Assert.AreEqual(geometry.Center, cylinderCollider.Center);
Assert.AreEqual(geometry.Center, cylinderCollider.Geometry.Center);
Assert.AreEqual(geometry.Orientation, cylinderCollider.Orientation);
Assert.AreEqual(geometry.Orientation, cylinderCollider.Geometry.Orientation);
Assert.AreEqual(geometry.Height, cylinderCollider.Height);
Assert.AreEqual(geometry.Height, cylinderCollider.Geometry.Height);
Assert.AreEqual(geometry.Radius, cylinderCollider.Radius);
Assert.AreEqual(geometry.Radius, cylinderCollider.Geometry.Radius);
Assert.AreEqual(geometry.BevelRadius, cylinderCollider.BevelRadius);
Assert.AreEqual(geometry.BevelRadius, cylinderCollider.Geometry.BevelRadius);
Assert.AreEqual(CollisionType.Convex, cylinderCollider.CollisionType);
Assert.AreEqual(ColliderType.Cylinder, cylinderCollider.Type);
}
public override void InstanceSpawn()
{
vCollisionOrigin = new Vector2(0, 0);
rCollisionRectangle = new Rectangle(0, 0, 16, 16);
hitCylinder = new CylinderCollider(new Vector3(x, z, y), 10, 2.5f);
}
private void SetupNewCollider(CylinderCollider cylc, MeshCollider mc)
{
switch (setupBoundsType.Value)
{
case SetupBoundsType.None:
break;
case SetupBoundsType.SetupFromPreciseBounds:
cylc.SetFromPreciseBounds();
break;
}
if (PreserveColliderSettings)
{
cylc.Type.Value = mc.Type.Value;
cylc.CharacterCollider.Value = mc.CharacterCollider.Value;
cylc.IgnoreRaycasts.Value = mc.IgnoreRaycasts.Value;
cylc.Mass.Value = mc.Mass.Value;
}
else
{
cylc.Type.Value = setColliderType;
cylc.CharacterCollider.Value = SetCharacterCollider;
cylc.IgnoreRaycasts.Value = SetIgnoreRaycasts;
cylc.Mass.Value = Mass;
}
}
public void Execute() => CylinderCollider.Create(new CylinderGeometry
{
Orientation = quaternion.identity,
Height = 1f,
Radius = 1f,
SideCount = CylinderGeometry.MaxSideCount
}).Dispose();
public static PhysicsCollider GetEnviromentPhysicsCollider(string name, float scale = 1f)
{
PhysicsCollider pc = new PhysicsCollider {
};
switch (name)
{
case "Kanto|Tree":
NativeArray <CompoundCollider.ColliderBlobInstance> cs = new NativeArray <CompoundCollider.ColliderBlobInstance>(2, Allocator.TempJob);
cs[0] = new CompoundCollider.ColliderBlobInstance
{
Collider = CylinderCollider.Create(new CylinderGeometry
{
Orientation = Quaternion.Euler(new float3(270f, 270f, 0)),
Height = 1f * scale,
Radius = .25f * scale,
SideCount = 20,
Center = new float3(0, .5f, 0) * scale
}, new CollisionFilter
{
BelongsTo = TriggerEventClass.Collidable,
CollidesWith = TriggerEventClass.Collidable,
GroupIndex = 1
}),
CompoundFromChild = new RigidTransform {
rot = quaternion.identity
}
};
cs[1] = new CompoundCollider.ColliderBlobInstance
{
Collider = CylinderCollider.Create(new CylinderGeometry
{
Center = new float3(0, 1.7f, 0) * scale,
Orientation = Quaternion.Euler(new float3(90f, 0, 0)),
Height = 1.5f * scale,
Radius = 1f * scale,
SideCount = 20
}, new CollisionFilter
{
BelongsTo = TriggerEventClass.Collidable,
CollidesWith = TriggerEventClass.Collidable,
GroupIndex = 1
}),
CompoundFromChild = new RigidTransform {
rot = quaternion.identity
}
};
pc = new PhysicsCollider {
Value = CompoundCollider.Create(cs)
};
cs.Dispose();
break;
default:
Debug.LogWarning("Failed to get collider for \"" + name + "\"");
break;
}
return(pc);
}
public void Execute(int i)
{
var shapeData = ComputeData[ToComputeTable[i]];
switch (shapeData.ShapeType)
{
case ShapeType.Box:
{
BlobAssets[i] = BoxCollider.Create(
shapeData.BoxProperties, shapeData.CollisionFilter, shapeData.Material
);
return;
}
case ShapeType.Capsule:
{
BlobAssets[i] = CapsuleCollider.Create(
shapeData.CapsuleProperties, shapeData.CollisionFilter, shapeData.Material
);
return;
}
case ShapeType.Cylinder:
{
BlobAssets[i] = CylinderCollider.Create(
shapeData.CylinderProperties, shapeData.CollisionFilter, shapeData.Material
);
return;
}
case ShapeType.Plane:
{
var v = shapeData.PlaneVertices;
BlobAssets[i] = PolygonCollider.CreateQuad(
v.c0, v.c1, v.c2, v.c3, shapeData.CollisionFilter, shapeData.Material
);
return;
}
case ShapeType.Sphere:
{
BlobAssets[i] = SphereCollider.Create(
shapeData.SphereProperties, shapeData.CollisionFilter, shapeData.Material
);
return;
}
// Note : Mesh and Hull are not computed here as they are in a separated set of jobs
default:
return;
}
}
public void CylinderCollider_Create_WhenHeightInvalid_Throws(
[Values(float.PositiveInfinity, float.NegativeInfinity, float.NaN, -1f)] float errantValue
)
{
var geometry = new CylinderGeometry {
Height = errantValue,
Orientation = quaternion.identity,
SideCount = CylinderGeometry.MaxSideCount
};
var ex = Assert.Throws <ArgumentException>(() => CylinderCollider.Create(geometry));
Assert.That(ex.Message, Does.Match(nameof(CylinderGeometry.Height)));
}
public bool isColliding(CylinderCollider otherCollider)
{
bool collided = false;
//vertical collision
if ((otherCollider.Position.Y + otherCollider.Height >= this.Position.Y && otherCollider.Position.Y + otherCollider.Height <= this.Position.Y + this.Height) ||
(otherCollider.Position.Y >= this.Position.Y && otherCollider.Position.Y <= this.Position.Y + this.Height))
{
//horizontal collision
if (PointDistance(this.Position.X, this.Position.Z, otherCollider.Position.X, otherCollider.Position.Z) < this.Radius + otherCollider.Radius)
{
collided = true;
}
}
return(collided);
}
protected override BlobAssetReference <Collider> ProduceColliderBlob(PhysicsShape shape)
{
var material = ProduceMaterial(shape);
var collisionFilter = ProduceCollisionFilter(shape);
var blob = new BlobAssetReference <Collider>();
shape.GetBakeTransformation(out var linearScalar, out var radiusScalar);
switch (shape.ShapeType)
{
case ShapeType.Box:
shape.GetBoxProperties(out var center, out var size, out quaternion orientation);
blob = BoxCollider.Create(
center * linearScalar,
orientation,
math.abs(size * linearScalar),
shape.ConvexRadius * radiusScalar,
collisionFilter,
material);
break;
case ShapeType.Capsule:
shape.GetCapsuleProperties(out var v0, out var v1, out var radius);
blob = CapsuleCollider.Create(
v0 * linearScalar,
v1 * linearScalar,
radius * radiusScalar,
collisionFilter,
material);
break;
case ShapeType.Sphere:
shape.GetSphereProperties(out center, out radius, out orientation);
blob = SphereCollider.Create(
center * linearScalar,
radius * radiusScalar,
collisionFilter,
material);
break;
case ShapeType.Cylinder:
shape.GetCylinderProperties(out center, out var height, out radius, out orientation);
var s = math.abs(math.mul(math.inverse(orientation), linearScalar));
blob = CylinderCollider.Create(
center * linearScalar,
height * s.z,
radius * math.cmax(s.xy),
orientation,
shape.ConvexRadius * radiusScalar,
collisionFilter,
material);
break;
case ShapeType.Plane:
shape.GetPlaneProperties(out v0, out v1, out var v2, out var v3);
blob = PolygonCollider.CreateQuad(
v0 * linearScalar,
v1 * linearScalar,
v2 * linearScalar,
v3 * linearScalar,
collisionFilter,
material);
break;
case ShapeType.ConvexHull:
var pointCloud = new NativeList <float3>(65535, Allocator.Temp);
shape.GetConvexHullProperties(pointCloud);
if (pointCloud.Length == 0)
{
pointCloud.Dispose();
throw new InvalidOperationException(
$"No vertices associated with {shape.name}. Add a {typeof(MeshFilter)} component or assign {nameof(PhysicsShape.CustomMesh)}."
);
}
blob = ConvexCollider.Create(
pointCloud,
shape.ConvexRadius * radiusScalar,
linearScalar,
collisionFilter,
material);
pointCloud.Dispose();
break;
case ShapeType.Mesh:
// TODO: no convex radius?
var mesh = shape.GetMesh();
if (mesh == null)
{
throw new InvalidOperationException(
$"No mesh associated with {shape.name}. Add a {typeof(MeshFilter)} component or assign {nameof(PhysicsShape.CustomMesh)}."
);
}
else
{
blob = MeshCollider.Create(mesh.GetScaledVertices(linearScalar), mesh.triangles, collisionFilter, material);
}
break;
default:
throw new UnimplementedShapeException(shape.ShapeType);
}
return(blob);
}
public static unsafe BlobAssetReference <Collider> GenerateRandomConvex(ref Random rnd)
{
ColliderType colliderType = (ColliderType)rnd.NextInt((int)ColliderType.Cylinder + 1);
float convexRadius = (rnd.NextInt(4) > 0) ? rnd.NextFloat(0.5f) : 0.0f;
switch (colliderType)
{
case ColliderType.Convex:
{
int numPoints = rnd.NextInt(1, 16);
if (numPoints == 3) // TODO - hull builder doesn't build faces for flat shapes, work around it for now to run the test
{
numPoints++;
}
var points = new NativeArray <float3>(numPoints, Allocator.TempJob);
for (int i = 0; i < numPoints; i++)
{
points[i] = rnd.NextFloat3(-1.0f, 1.0f);
}
var generationParameters = ConvexHullGenerationParameters.Default;
generationParameters.BevelRadius = convexRadius;
var collider = ConvexCollider.Create(points, generationParameters, CollisionFilter.Default);
points.Dispose();
return(collider);
}
case ColliderType.Sphere:
{
return(SphereCollider.Create(new SphereGeometry
{
Center = (rnd.NextInt(4) > 0) ? float3.zero : rnd.NextFloat3(-0.5f, 0.5f),
Radius = rnd.NextFloat(0.01f, 0.5f)
}));
}
case ColliderType.Capsule:
{
float3 point0 = rnd.NextFloat3(0.0f, 1.0f);
float3 point1 = (rnd.NextInt(4) > 0) ? -point0 : rnd.NextFloat3(-1.0f, 1.0f);
return(CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = point0,
Vertex1 = point1,
Radius = rnd.NextFloat(0.01f, 0.5f)
}));
}
case ColliderType.Triangle:
{
return(PolygonCollider.CreateTriangle(rnd.NextFloat3(-1.0f, 1.0f), rnd.NextFloat3(-1.0f, 1.0f), rnd.NextFloat3(-1.0f, 1.0f)));
}
case ColliderType.Quad:
{
// Pick 3 totally random points, then choose a fourth that makes a flat and convex quad
float3 point0 = rnd.NextFloat3(-1.0f, 1.0f);
float3 point1 = rnd.NextFloat3(-1.0f, 1.0f);
float3 point3 = rnd.NextFloat3(-1.0f, 1.0f);
float t0 = rnd.NextFloat(0.0f, 1.0f);
float t1 = rnd.NextFloat(0.0f, 1.0f);
float3 e = point1 + point1 - point0;
float3 a = math.lerp(point1, e, t0);
float3 b = math.lerp(point3, point3 + point3 - point0, t0);
float3 point2 = math.lerp(a, b, t1);
return(PolygonCollider.CreateQuad(point0, point1, point2, point3));
}
case ColliderType.Box:
{
float minSize = 0.05f; // TODO - work around hull builder problems with small faces, sometimes doesn't extend 1D->2D based on face area
var boxGeometry = new BoxGeometry
{
Center = (rnd.NextInt(4) > 0) ? float3.zero : rnd.NextFloat3(-0.5f, 0.5f),
Orientation = (rnd.NextInt(4) > 0) ? quaternion.identity : rnd.NextQuaternionRotation(),
Size = rnd.NextFloat3(minSize, 1.0f)
};
float maxBevelRadius = math.max(math.cmin((boxGeometry.Size - minSize) / (2.0f * (1.0f + float.Epsilon))), 0.0f);
boxGeometry.BevelRadius = math.min(maxBevelRadius, convexRadius);
return(BoxCollider.Create(boxGeometry));
}
case ColliderType.Cylinder:
{
float minSize = 0.01f; // TODO - cylinder gets degenerate faces if radius-convexRadius=0 or height/2-convexRadius=0, decide how to handle this in CylinderCollider
var cylinderGeometry = new CylinderGeometry
{
Center = (rnd.NextInt(4) > 0) ? float3.zero : rnd.NextFloat3(-0.5f, 0.5f),
Orientation = (rnd.NextInt(4) > 0) ? quaternion.identity : rnd.NextQuaternionRotation(),
Height = rnd.NextFloat(2.0f * minSize, 1f),
Radius = rnd.NextFloat(minSize, 1.0f),
SideCount = 20
};
var maxBevelRadius = math.max(math.min(cylinderGeometry.Height / 2, cylinderGeometry.Radius) - minSize, 0.0f);
cylinderGeometry.BevelRadius = math.min(maxBevelRadius, convexRadius);
return(CylinderCollider.Create(cylinderGeometry));
}
default:
throw new NotImplementedException();
}
}
public override void InstanceSpawn()
{
hitCylinder = new CylinderCollider(new Vector3(x, z - 2, y), 4, 2);
}
/// <summary>
/// Generates a collider using a PhysicsShapeAuthoring and PhysicsMaterialsExtensionComponent
/// </summary>
/// <param name="shape"></param>
/// <param name="shapeExt"></param>
/// <param name="offsetPosition"></param>
/// <param name="offsetRotation"></param>
/// <returns></returns>
BlobAssetReference <Unity.Physics.Collider> GenerateCollider(PhysicsShapeAuthoring shape, PhysicsMaterialsExtensionComponent shapeExt, out float3 offsetPosition, out quaternion offsetRotation)
{
CollisionFilter filter = new CollisionFilter
{
CollidesWith = shape.CollidesWith.Value,
BelongsTo = shape.BelongsTo.Value,
GroupIndex = 0
};
Unity.Physics.Material material = new Unity.Physics.Material
{
CollisionResponse = shape.CollisionResponse,
CustomTags = shape.CustomTags.Value,
Friction = shape.Friction.Value,
FrictionCombinePolicy = shape.Friction.CombineMode,
Restitution = shape.Restitution.Value,
RestitutionCombinePolicy = shape.Restitution.CombineMode,
EnableMassFactors = shapeExt != null ? shapeExt.EnableMassFactors : false,
EnableSurfaceVelocity = shapeExt != null ? shapeExt.EnableSurfaceVelocity : false
};
switch (shape.ShapeType)
{
case ShapeType.Box:
var boxProperties = shape.GetBoxProperties();
offsetPosition = boxProperties.Center;
offsetRotation = boxProperties.Orientation;
return(Unity.Physics.BoxCollider.Create(boxProperties, filter, material));
case ShapeType.Capsule:
var capsuleProperties = shape.GetCapsuleProperties();
var capsuleGeometry = new CapsuleGeometry
{
Radius = capsuleProperties.Radius,
Vertex0 = capsuleProperties.Center - capsuleProperties.Height / 2 - capsuleProperties.Radius,
Vertex1 = capsuleProperties.Center + capsuleProperties.Height / 2 - capsuleProperties.Radius
};
offsetPosition = capsuleProperties.Center;
offsetRotation = capsuleProperties.Orientation;
return(Unity.Physics.CapsuleCollider.Create(capsuleGeometry, filter, material));
case ShapeType.Cylinder:
var cylinderProperties = shape.GetCylinderProperties();
offsetPosition = cylinderProperties.Center;
offsetRotation = cylinderProperties.Orientation;
return(CylinderCollider.Create(cylinderProperties, filter, material));
case ShapeType.Sphere:
var sphereProperties = shape.GetSphereProperties(out var orientation);
var SphereGeometry = new SphereGeometry
{
Center = sphereProperties.Center,
Radius = sphereProperties.Radius
};
offsetPosition = sphereProperties.Center;
offsetRotation = quaternion.identity;
return(Unity.Physics.SphereCollider.Create(SphereGeometry, filter, material));
case ShapeType.ConvexHull:
NativeList <float3> points = new NativeList <float3>(Allocator.Temp);
shape.GetConvexHullProperties(points);
var ConvexCollider = Unity.Physics.ConvexCollider.Create(points, shape.ConvexHullGenerationParameters, filter, material);
// points.Dispose();
offsetPosition = float3.zero;
offsetRotation = quaternion.identity;
return(ConvexCollider);
case ShapeType.Mesh:
NativeList <float3> verts = new NativeList <float3>(Allocator.Temp);
NativeList <int3> tris = new NativeList <int3>(Allocator.Temp);
shape.GetMeshProperties(verts, tris);
offsetPosition = float3.zero;
offsetRotation = quaternion.identity;
return(Unity.Physics.MeshCollider.Create(verts, tris, filter, material));
default:
UnityEngine.Debug.LogWarning("GenerateCollider:: cannot generate collider for shapetype \"" + shape.ShapeType + "\"");
offsetPosition = float3.zero;
offsetRotation = quaternion.identity;
return(new BlobAssetReference <Unity.Physics.Collider>());
}
}
BlobAssetReference <Unity.Physics.Collider> GenerateCollider(PhysicsShapeAuthoring shape, out float3 offsetPosition, out quaternion offsetRotation)
{
switch (shape.ShapeType)
{
case ShapeType.Box:
var boxProperties = shape.GetBoxProperties();
offsetPosition = boxProperties.Center;
offsetRotation = boxProperties.Orientation;
return(Unity.Physics.BoxCollider.Create(boxProperties));
case ShapeType.Capsule:
var capsuleProperties = shape.GetCapsuleProperties();
var capsuleGeometry = new CapsuleGeometry
{
Radius = capsuleProperties.Radius,
Vertex0 = capsuleProperties.Center - capsuleProperties.Height / 2 - capsuleProperties.Radius,
Vertex1 = capsuleProperties.Center + capsuleProperties.Height / 2 - capsuleProperties.Radius
};
offsetPosition = capsuleProperties.Center;
offsetRotation = capsuleProperties.Orientation;
return(Unity.Physics.CapsuleCollider.Create(capsuleGeometry));
case ShapeType.Cylinder:
var cylinderProperties = shape.GetCylinderProperties();
offsetPosition = cylinderProperties.Center;
offsetRotation = cylinderProperties.Orientation;
return(CylinderCollider.Create(cylinderProperties));
case ShapeType.Sphere:
var sphereProperties = shape.GetSphereProperties(out var orientation);
var SphereGeometry = new SphereGeometry
{
Center = sphereProperties.Center,
Radius = sphereProperties.Radius
};
offsetPosition = sphereProperties.Center;
offsetRotation = quaternion.identity;
return(Unity.Physics.SphereCollider.Create(SphereGeometry));
case ShapeType.ConvexHull:
NativeList <float3> points = new NativeList <float3>(Allocator.Temp);
shape.GetConvexHullProperties(points);
var ConvexCollider = Unity.Physics.ConvexCollider.Create(points, shape.ConvexHullGenerationParameters);
// points.Dispose();
offsetPosition = float3.zero;
offsetRotation = quaternion.identity;
return(ConvexCollider);
case ShapeType.Mesh:
NativeList <float3> verts = new NativeList <float3>(Allocator.Temp);
NativeList <int3> tris = new NativeList <int3>(Allocator.Temp);
shape.GetMeshProperties(verts, tris);
offsetPosition = float3.zero;
offsetRotation = quaternion.identity;
return(Unity.Physics.MeshCollider.Create(verts, tris));
default:
UnityEngine.Debug.LogWarning("GenerateCollider:: cannot generate collider for shapetype \"" + shape.ShapeType + "\"");
offsetPosition = float3.zero;
offsetRotation = quaternion.identity;
return(new BlobAssetReference <Unity.Physics.Collider>());
}
}
protected override BlobAssetReference <Collider> ProduceColliderBlob(PhysicsShapeAuthoring shape)
{
var material = ProduceMaterial(shape);
var collisionFilter = ProduceCollisionFilter(shape);
BlobAssetReference <Collider> blob = default;
switch (shape.ShapeType)
{
case ShapeType.Box:
blob = BoxCollider.Create(
shape.GetBakedBoxProperties(),
collisionFilter,
material);
break;
case ShapeType.Capsule:
blob = CapsuleCollider.Create(
shape.GetBakedCapsuleProperties(out var center, out var height, out var orientation),
collisionFilter,
material);
break;
case ShapeType.Sphere:
blob = SphereCollider.Create(
shape.GetBakedSphereProperties(out orientation),
collisionFilter,
material);
break;
case ShapeType.Cylinder:
blob = CylinderCollider.Create(
shape.GetBakedCylinderProperties(),
collisionFilter,
material);
break;
case ShapeType.Plane:
shape.GetBakedPlaneProperties(out var v0, out var v1, out var v2, out var v3);
blob = PolygonCollider.CreateQuad(
v0,
v1,
v2,
v3,
collisionFilter,
material);
break;
case ShapeType.ConvexHull:
var pointCloud = new NativeList <float3>(65535, Allocator.Temp);
shape.GetConvexHullProperties(pointCloud);
if (pointCloud.Length == 0)
{
throw new InvalidOperationException(
$"No vertices associated with {shape.name}. Add a {typeof(MeshFilter)} component or assign a readable {nameof(PhysicsShapeAuthoring.CustomMesh)}."
);
}
shape.GetBakedConvexProperties(pointCloud, out var hullGenerationParameters);
RegisterConvexColliderDeferred(
shape, pointCloud, hullGenerationParameters.ToRunTime(), collisionFilter, material
);
pointCloud.Dispose();
break;
case ShapeType.Mesh:
const int defaultVertexCount = 2048;
pointCloud = new NativeList <float3>(defaultVertexCount, Allocator.Temp);
var triangles = new NativeList <int>((defaultVertexCount - 2) * 3, Allocator.Temp);
shape.GetBakedMeshProperties(pointCloud, triangles);
if (pointCloud.Length == 0 || triangles.Length == 0)
{
triangles.Dispose();
pointCloud.Dispose();
throw new InvalidOperationException(
$"Invalid mesh data associated with {shape.name}. " +
$"Add a {typeof(MeshFilter)} component or assign a {nameof(PhysicsShapeAuthoring.CustomMesh)}. " +
"Ensure that you have enabled Read/Write on the mesh's import settings."
);
}
RegisterMeshColliderDeferred(shape, pointCloud, triangles, collisionFilter, material);
triangles.Dispose();
pointCloud.Dispose();
break;
default:
throw new UnimplementedShapeException(shape.ShapeType);
}
return(blob);
}
public override void InstanceSpawn()
{
hitCylinder = new CylinderCollider(new Vector3(x, 0, y), 200, 5);
}
