static public BlobAssetReference <Collider> ProduceColliderBlob
(this UnityEngine.CapsuleCollider shape, int groupIndex)
{
var linearScale = (float3)shape.transform.lossyScale;
// radius is max of the two non-height axes
var radius = shape.radius * math.cmax(new float3(math.abs(linearScale))
{
[shape.direction] = 0f
});
var ax = new float3 {
[shape.direction] = 1f
};
var vertex = ax * (0.5f * shape.height);
var rt = new RigidTransform(shape.transform.rotation, shape.transform.position);
var worldCenter = math.mul(shape.transform.localToWorldMatrix, new float4(shape.center, 0f));
var offset = math.mul(math.inverse(new float4x4(rt)), worldCenter).xyz - shape.center * math.abs(linearScale);
var v0 = offset + ((float3)shape.center + vertex) * math.abs(linearScale) - ax * radius;
var v1 = offset + ((float3)shape.center - vertex) * math.abs(linearScale) + ax * radius;
return(CapsuleCollider.Create(
new CapsuleGeometry {
Vertex0 = v0, Vertex1 = v1, Radius = radius
}, GetFilter(shape, groupIndex)
//ProduceCollisionFilter( shape ),
//ProduceMaterial( shape )
));
}
protected override void Start()
{
base.Start();
//base.init(float3.zero); // no gravity
// Enable the joint viewer
SetDebugDisplay(new Unity.Physics.Authoring.PhysicsDebugDisplayData
{
DrawJoints = 1,
DrawContacts = 1
});
const uint layerBody = (1 << 0);
const uint layerHead = (1 << 1);
const uint layerUpperArm = (1 << 2);
const uint layerForearm = (1 << 3);
const uint layerHand = (1 << 4);
const uint layerThigh = (1 << 5);
// const uint layerCalf = (1 << 6);
// const uint layerFoot = (1 << 7);
const int layerGround = (1 << 8);
// Floor
{
BlobAssetReference <Collider> collider = BoxCollider.Create(float3.zero, Quaternion.identity, new float3(20.0f, 0.2f, 20.0f), 0.01f, filter(layerGround, 0));
CreateStaticBody(new float3(0, -0.1f, 0), quaternion.identity, collider);
}
// Body
float3 bodyHalfExtents = new float3(0.2f, 0.3f, 0.075f);
float3 bodyPosition = new float3(0, 0.1f, 0);
Entity body;
{
BlobAssetReference <Collider> collider = BoxCollider.Create(
float3.zero, Quaternion.identity, 2.0f * bodyHalfExtents, 0.01f, filter(layerBody, layerHead | layerUpperArm | layerThigh));
quaternion q = quaternion.AxisAngle(new float3(1, 0, 0), (float)math.PI / 2.0f);
body = CreateDynamicBody(bodyPosition, quaternion.identity, collider, float3.zero, float3.zero, 10.0f);
//body = createStaticBody(bodyPosition, quaternion.identity, collider);
}
// Arms
{
float handLength = 0.025f;
float handRadius = 0.055f;
BlobAssetReference <Collider> handCollider = CapsuleCollider.Create(new float3(-handLength / 2, 0, 0), new float3(handLength / 2, 0, 0), handRadius,
filter(layerHand, layerForearm));
for (int i = 0; i < 1; i++)
{
float s = i * 2 - 1.0f;
float3 handPosition = new float3(0, 0.3f, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 10.0f);
}
}
}
private static PhysicsCollider CreateCapsuleCollider(float bottomPoint, float topPoint, float radius, CollisionFilter filter, PhysicsMaterial physicsMaterial)
{
CapsuleGeometry capsuleGeo = new CapsuleGeometry
{
Vertex0 = new float3(0f, bottomPoint, 0f),
Vertex1 = new float3(0f, topPoint, 0f),
Radius = radius
};
return(new PhysicsCollider {
Value = CapsuleCollider.Create(capsuleGeo, filter, physicsMaterial)
});
}
public static BlobAssetReference <Collider> CreateCollider(UnityEngine.Mesh mesh, ColliderType type)
{
switch (type)
{
case ColliderType.Sphere: {
Bounds bounds = mesh.bounds;
return(SphereCollider.Create(new SphereGeometry {
Center = bounds.center,
Radius = math.cmax(bounds.extents)
}));
}
case ColliderType.Triangle: {
return(PolygonCollider.CreateTriangle(mesh.vertices[0], mesh.vertices[1], mesh.vertices[2]));
}
case ColliderType.Quad: {
// We assume the first 2 triangles of the mesh are a quad with a shared edge
// Work out a correct ordering for the triangle
int[] orderedIndices = new int[4];
// Find the vertex in first triangle that is not on the shared edge
for (int i = 0; i < 3; i++)
{
if ((mesh.triangles[i] != mesh.triangles[3]) &&
(mesh.triangles[i] != mesh.triangles[4]) &&
(mesh.triangles[i] != mesh.triangles[5]))
{
// Push in order or prev, unique, next
orderedIndices[0] = mesh.triangles[(i - 1 + 3) % 3];
orderedIndices[1] = mesh.triangles[i];
orderedIndices[2] = mesh.triangles[(i + 1) % 3];
break;
}
}
// Find the vertex in second triangle that is not on a shared edge
for (int i = 3; i < 6; i++)
{
if ((mesh.triangles[i] != orderedIndices[0]) &&
(mesh.triangles[i] != orderedIndices[1]) &&
(mesh.triangles[i] != orderedIndices[2]))
{
orderedIndices[3] = mesh.triangles[i];
break;
}
}
return(PolygonCollider.CreateQuad(
mesh.vertices[orderedIndices[0]],
mesh.vertices[orderedIndices[1]],
mesh.vertices[orderedIndices[2]],
mesh.vertices[orderedIndices[3]]));
}
case ColliderType.Box: {
Bounds bounds = mesh.bounds;
return(BoxCollider.Create(new BoxGeometry {
Center = bounds.center,
Orientation = quaternion.identity,
Size = 2.0f * bounds.extents,
BevelRadius = 0.0f
}));
}
case ColliderType.Capsule: {
Bounds bounds = mesh.bounds;
float min = math.cmin(bounds.extents);
float max = math.cmax(bounds.extents);
int x = math.select(math.select(2, 1, min == bounds.extents.y), 0, min == bounds.extents.x);
int z = math.select(math.select(2, 1, max == bounds.extents.y), 0, max == bounds.extents.x);
int y = math.select(math.select(2, 1, (1 != x) && (1 != z)), 0, (0 != x) && (0 != z));
float radius = bounds.extents[y];
float3 vertex0 = bounds.center; vertex0[z] = -(max - radius);
float3 vertex1 = bounds.center; vertex1[z] = (max - radius);
return(CapsuleCollider.Create(new CapsuleGeometry {
Vertex0 = vertex0,
Vertex1 = vertex1,
Radius = radius
}));
}
case ColliderType.Cylinder:
// TODO: need someone to add
throw new NotImplementedException();
case ColliderType.Convex: {
NativeArray <float3> points = new NativeArray <float3>(mesh.vertices.Length, Allocator.TempJob);
for (int i = 0; i < mesh.vertices.Length; i++)
{
points[i] = mesh.vertices[i];
}
BlobAssetReference <Collider> collider = ConvexCollider.Create(points, default, CollisionFilter.Default);
points.Dispose();
return(collider);
}
protected override void Start()
{
base.Start();
const uint layerBody = (1 << 0);
const uint layerHead = (1 << 1);
const uint layerUpperArm = (1 << 2);
const uint layerForearm = (1 << 3);
const uint layerHand = (1 << 4);
const uint layerThigh = (1 << 5);
// const uint layerCalf = (1 << 6);
// const uint layerFoot = (1 << 7);
const int layerGround = (1 << 8);
// Floor
{
BlobAssetReference <Collider> collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = new float3(20.0f, 0.2f, 20.0f),
BevelRadius = 0.01f
},
filter(layerGround, 0), Material.Default);
CreateStaticBody(new float3(0, -0.1f, 0), quaternion.identity, collider);
}
// Body
float3 bodyHalfExtents = new float3(0.2f, 0.3f, 0.075f);
float3 bodyPosition = new float3(0, 0.1f, 0);
Entity body;
{
BlobAssetReference <Collider> collider = BoxCollider.Create(new BoxGeometry
{
Center = float3.zero,
Orientation = quaternion.identity,
Size = 2.0f * bodyHalfExtents,
BevelRadius = 0.01f
},
filter(layerBody, layerHead | layerUpperArm | layerThigh), Material.Default);
quaternion q = quaternion.AxisAngle(new float3(1, 0, 0), (float)math.PI / 2.0f);
body = CreateDynamicBody(bodyPosition, quaternion.identity, collider, float3.zero, float3.zero, 10.0f);
//body = createStaticBody(bodyPosition, quaternion.identity, collider);
}
// Arms
{
float handLength = 0.025f;
float handRadius = 0.055f;
BlobAssetReference <Collider> handCollider = CapsuleCollider.Create(new CapsuleGeometry
{
Vertex0 = new float3(-handLength / 2, 0, 0),
Vertex1 = new float3(handLength / 2, 0, 0),
Radius = handRadius
},
filter(layerHand, layerForearm), Material.Default);
for (int i = 0; i < 1; i++)
{
float s = i * 2 - 1.0f;
float3 handPosition = new float3(0, 0.3f, 0);
Entity hand = CreateDynamicBody(handPosition, quaternion.identity, handCollider, float3.zero, float3.zero, 10.0f);
}
}
}
