private void UpdateColliders(ObiSolver solver)
{
for (int i = 0; i < colliders.Count; i++)
{
Collider source = colliders[i];
if (source == null || !source.enabled || !source.gameObject.activeInHierarchy)
{
continue;
}
Rigidbody rb = source.GetComponentInParent <Rigidbody>();
ObiCollider oc = source.GetComponent <ObiCollider>();
// Get the adequate rigidBodyIndex. If several colliders share a rigidbody, they'll get the same rigidBodyIndex.
int rigidBodyIndex = -1;
if (rb != null)
{
if (!rigidbodyIDs.TryGetValue(rb.GetInstanceID(), out rigidBodyIndex))
{
ObiRigidbody or = rb.GetComponent <ObiRigidbody>();
rigidBodyIndex = Oni.GetRigidbodyCount(oniColliderGroup);
Oni.SetRigidbodies(oniColliderGroup, new Oni.Rigidbody[] {
new Oni.Rigidbody(rb, (or != null) ? or.kinematicForParticles : false)
}, 1, rigidBodyIndex);
rigidbodyIDs[rb.GetInstanceID()] = rigidBodyIndex;
}
}
float thickness = (oc != null)?oc.thickness:0;
Oni.Collider collider = new Oni.Collider();
bool supported = true;
if (source is SphereCollider)
{
collider = new Oni.Collider(source, Oni.ShapeType.Sphere, thickness, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Sphere), rigidBodyIndex, (oc != null)?oc.materialIndex:0);
Oni.SetSphereShapes(oniColliderGroup, new Oni.SphereShape[] {
new Oni.SphereShape(source as SphereCollider)
}, 1, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Sphere));
}
else if (source is BoxCollider)
{
collider = new Oni.Collider(source, Oni.ShapeType.Box, thickness, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Box), rigidBodyIndex, (oc != null)?oc.materialIndex:0);
Oni.SetBoxShapes(oniColliderGroup, new Oni.BoxShape[] {
new Oni.BoxShape(source as BoxCollider)
}, 1, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Box));
}
else if (source is CapsuleCollider)
{
collider = new Oni.Collider(source, Oni.ShapeType.Capsule, thickness, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Capsule), rigidBodyIndex, (oc != null)?oc.materialIndex:0);
Oni.SetCapsuleShapes(oniColliderGroup, new Oni.CapsuleShape[] {
new Oni.CapsuleShape(source as CapsuleCollider)
}, 1, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Capsule));
}
else if (source is CharacterController)
{
collider = new Oni.Collider(source, Oni.ShapeType.Capsule, thickness, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Capsule), rigidBodyIndex, (oc != null)?oc.materialIndex:0);
Oni.SetCapsuleShapes(oniColliderGroup, new Oni.CapsuleShape[] {
new Oni.CapsuleShape(source as CharacterController)
}, 1, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Capsule));
}
else if (source is TerrainCollider)
{
TerrainCollider tc = source as TerrainCollider;
Oni.HeightData data;
if (!heightData.TryGetValue(tc, out data))
{
data = heightData[tc] = new Oni.HeightData(tc);
}
collider = new Oni.Collider(source, Oni.ShapeType.Heightmap, thickness, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Heightmap), rigidBodyIndex, (oc != null)?oc.materialIndex:0);
Oni.SetHeightmapShapes(oniColliderGroup, new Oni.HeightmapShape[] {
new Oni.HeightmapShape(tc, data.AddrOfHeightData())
}, 1, Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.Heightmap));
}
else if (source is MeshCollider)
{
MeshCollider mc = source as MeshCollider;
MeshColliderShapeAndData shapeAndData;
if (mc.sharedMesh != null)
{
// We can share the same triangle data across several instances of the same MeshCollider:
if (!meshColliderData.TryGetValue(mc.sharedMesh, out shapeAndData))
{
// Get current amount of triangle mesh shapes:
int shapeIndex = Oni.GetShapeCount(oniColliderGroup, Oni.ShapeType.TriangleMesh);
// Generate mesh collider triangle data and shape:
Oni.TriangleMeshData data = new Oni.TriangleMeshData(mc);
Oni.TriangleMeshShape shape = new Oni.TriangleMeshShape(mc,
(oc != null)?oc.meshColliderType:Oni.TriangleMeshShape.MeshColliderType.ThinTwoSided,
thickness,
data.AddrOfVertexData(),
data.AddrOfTriangleData());
// Pack both in a small wrapper:
shapeAndData = new MeshColliderShapeAndData(data, shape, shapeIndex);
// Tell Oni we want to define a new triangle mesh:
Oni.SetTriangleMeshShapes(oniColliderGroup,
new Oni.TriangleMeshShape[] { shapeAndData.meshShape },
1, shapeIndex);
Oni.UpdateTriangleMeshShapes(oniColliderGroup, 1, shapeIndex);
// Store mesh collider data:
meshColliderData[mc.sharedMesh] = shapeAndData;
}
collider = new Oni.Collider(source, Oni.ShapeType.TriangleMesh, thickness, shapeAndData.shapeIndex, rigidBodyIndex, (oc != null)?oc.materialIndex:0);
}
}
else
{
supported = false;
Debug.LogWarning("Collider type " + source.GetType() + " not supported by Obi. Ignoring it.");
}
if (supported)
{
// convert to colliders to solver's local space:
if (solver.simulateInLocalSpace)
{
collider.SetSpaceTransform(solver.transform);
}
Oni.SetColliders(oniColliderGroup, new Oni.Collider[] { collider }, 1, Oni.GetColliderCount(oniColliderGroup));
}
}
}
public void UpdateBodiesInfo()
{
oniColliders.Clear();
oniRigidbodies.Clear();
oniSpheres.Clear();
oniBoxes.Clear();
oniCapsules.Clear();
oniHeightmaps.Clear();
rigidbodyIDs.Clear();
for (int i = 0; i < colliders.Count; i++)
{
Collider source = colliders[i];
if (source == null)
{
continue;
}
Rigidbody rb = colliders[i].GetComponentInParent <Rigidbody>();
ObiCollider oc = colliders[i].GetComponent <ObiCollider>();
// Get the adequate rigidBodyIndex. If several colliders share a rigidbody, they'll get the same rigidBodyIndex.
int rigidBodyIndex = -1;
if (rb != null)
{
if (!rigidbodyIDs.TryGetValue(rb.GetInstanceID(), out rigidBodyIndex))
{
rigidBodyIndex = oniRigidbodies.Count;
oniRigidbodies.Add(new Oni.Rigidbody(rb));
rigidbodyIDs[rb.GetInstanceID()] = rigidBodyIndex;
}
}
if (source is SphereCollider)
{
oniColliders.Add(new Oni.Collider(source, Oni.ShapeType.Sphere, oniSpheres.Count, rigidBodyIndex, (oc != null)?oc.materialIndex:0));
oniSpheres.Add(new Oni.SphereShape(source as SphereCollider));
}
else if (source is BoxCollider)
{
oniColliders.Add(new Oni.Collider(source, Oni.ShapeType.Box, oniBoxes.Count, rigidBodyIndex, (oc != null)?oc.materialIndex:0));
oniBoxes.Add(new Oni.BoxShape(source as BoxCollider));
}
else if (source is CapsuleCollider)
{
oniColliders.Add(new Oni.Collider(source, Oni.ShapeType.Capsule, oniCapsules.Count, rigidBodyIndex, (oc != null)?oc.materialIndex:0));
oniCapsules.Add(new Oni.CapsuleShape(source as CapsuleCollider));
}
else if (source is CharacterController)
{
oniColliders.Add(new Oni.Collider(source, Oni.ShapeType.Capsule, oniCapsules.Count, rigidBodyIndex, (oc != null)?oc.materialIndex:0));
oniCapsules.Add(new Oni.CapsuleShape(source as CharacterController));
}
else if (source is TerrainCollider)
{
TerrainCollider tc = source as TerrainCollider;
if (!heightData.ContainsKey(tc))
{
heightData[tc] = new Oni.HeightData(source as TerrainCollider);
}
oniColliders.Add(new Oni.Collider(source, Oni.ShapeType.Heightmap, oniHeightmaps.Count, rigidBodyIndex, (oc != null)?oc.materialIndex:0));
oniHeightmaps.Add(new Oni.HeightmapShape(source as TerrainCollider, heightData[tc].AddrOfHeightData()));
}
else
{
Debug.LogWarning(source.GetType() + " not supported by Obi. Ignoring it.");
}
}
UpdateColliders();
UpdateRigidbodies();
UpdateSpheres();
UpdateBoxes();
UpdateCapsules();
UpdateHeightmaps();
}
