public void Execute(int index)
{
SafetyChecks.IsTrue(BranchNodeOffsets[index] >= 0);
var bvh = new BoundingVolumeHierarchy(Nodes, NodeFilters);
var lastNode = bvh.BuildBranch(Points, Aabbs, Ranges[index], BranchNodeOffsets[index]);
if (NodeFilters != null)
{
bvh.BuildCombinedCollisionFilter(BodyFilters, BranchNodeOffsets[index], lastNode);
bvh.BuildCombinedCollisionFilter(Ranges[index].Root);
}
}
internal void CreateCollider(Entity rigidbodyEntity)
{
var colliderCount = RigidbodyToColliderMapping.CountValuesForKey(rigidbodyEntity);
if (colliderCount == 0)
{
return;
}
// Single collider doesn't require a compound collider.
if (colliderCount == 1)
{
var foundColliderBlob = RigidbodyToColliderMapping.TryGetFirstValue(rigidbodyEntity, out BlobAssetReference <Collider> colliderBlob, out NativeMultiHashMapIterator <Entity> ignore);
SafetyChecks.IsTrue(foundColliderBlob);
// Add the single collider to the rigidbody entity.
DstEntityManager.AddComponentData(rigidbodyEntity, new PhysicsColliderBlob {
Collider = colliderBlob
});
return;
}
// Multiple colliders required a compound collider.
var childrenArray = new NativeArray <PhysicsCompoundCollider.ColliderBlobInstance>(colliderCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var childIndex = 0;
foreach (var colliderBlob in RigidbodyToColliderMapping.GetValuesForKey(rigidbodyEntity))
{
childrenArray[childIndex++] = new PhysicsCompoundCollider.ColliderBlobInstance
{
Collider = colliderBlob,
// NOTE: Right now the relative pose of the collider with respect to the rigidbody is baked into the shape.
// Later, we'll want to remove that and only have its offset (if any) baked into it and use this transform instead.
CompoundFromChild = PhysicsTransform.Identity
};
}
// Create the compound collider.
DstEntityManager.AddComponentData(rigidbodyEntity, new PhysicsColliderBlob {
Collider = PhysicsCompoundCollider.Create(childrenArray)
});
// We've finished with the children blobs and array.
for (var i = 0; i < colliderCount; ++i)
{
childrenArray[i].Collider.Dispose();
}
childrenArray.Dispose();
}
public unsafe void Polygon(ConvexHull.ConvexArray.Accessor vertices, int vertexCount, PhysicsTransform physicsTransform, Color color)
{
SafetyChecks.IsTrue(vertexCount <= PhysicsPolygonCollider.Constants.MaxVertexCount);
Writer.Write(Type.Polygon);
var polygon = new Polygon
{
Transform = physicsTransform,
VertexCount = vertexCount,
Color = color
};
UnsafeUtility.MemCpy(polygon.Vertices, vertices.GetUnsafePtr(), sizeof(float2) * vertexCount);
Writer.Write(polygon);
}