public unsafe void Execute(ref ModifiableBodyPair pair)
{
Entity entityA = pair.Entities.EntityA;
Entity entityB = pair.Entities.EntityB;
if (entityA != entityB)
{
bool isAPassThrough = PassThroughGroup.Exists(entityA);
bool isBPassThrough = PassThroughGroup.Exists(entityB);
bool disableA = false;
bool disableB = false;
if (isAPassThrough)
{
Unity.Physics.RigidBody passThroughRigidBody = Bodies[pair.BodyIndices.BodyAIndex];
Unity.Physics.RigidBody colliderRigidBody = Bodies[pair.BodyIndices.BodyBIndex];
disableA = PassThroughSolid(ref entityA,
ref entityB,
ref PassThroughGroup,
ref passThroughRigidBody,
ref colliderRigidBody);
}
if (isBPassThrough)
{
Unity.Physics.RigidBody passThroughRigidBody = Bodies[pair.BodyIndices.BodyBIndex];
Unity.Physics.RigidBody colliderRigidBody = Bodies[pair.BodyIndices.BodyAIndex];
disableB = PassThroughSolid(ref entityB,
ref entityA,
ref PassThroughGroup,
ref passThroughRigidBody,
ref colliderRigidBody);
}
if (disableA || disableB)
{
pair.Disable();
}
}
}
// Write a set of contact manifolds for a pair of bodies to the given stream.
public static unsafe void BodyBody(ref PhysicsWorld world, BodyIndexPair pair, float timeStep, ref BlockStream.Writer contactWriter)
{
RigidBody rigidBodyA = world.Bodies[pair.BodyAIndex];
RigidBody rigidBodyB = world.Bodies[pair.BodyBIndex];
Collider *colliderA = rigidBodyA.Collider;
Collider *colliderB = rigidBodyB.Collider;
if (colliderA == null || colliderB == null || !CollisionFilter.IsCollisionEnabled(colliderA->Filter, colliderB->Filter))
{
return;
}
// Build combined motion expansion
MotionExpansion expansion;
{
MotionExpansion GetBodyExpansion(int bodyIndex, NativeSlice <MotionVelocity> mvs)
{
return(bodyIndex < mvs.Length ? mvs[bodyIndex].CalculateExpansion(timeStep) : MotionExpansion.Zero);
}
MotionExpansion expansionA = GetBodyExpansion(pair.BodyAIndex, world.MotionVelocities);
MotionExpansion expansionB = GetBodyExpansion(pair.BodyBIndex, world.MotionVelocities);
expansion = new MotionExpansion
{
Linear = expansionA.Linear - expansionB.Linear,
Uniform = expansionA.Uniform + expansionB.Uniform + world.CollisionTolerance
};
}
var context = new Context
{
BodyIndices = pair,
BodyCustomDatas = new CustomDataPair {
CustomDataA = rigidBodyA.CustomData, CustomDataB = rigidBodyB.CustomData
}
};
var worldFromA = new MTransform(rigidBodyA.WorldFromBody);
var worldFromB = new MTransform(rigidBodyB.WorldFromBody);
// Dispatch to appropriate manifold generator
switch (colliderA->CollisionType)
{
case CollisionType.Convex:
switch (colliderB->CollisionType)
{
case CollisionType.Convex:
ConvexConvex(context, ColliderKeyPair.Empty, colliderA, colliderB, worldFromA, worldFromB, expansion.MaxDistance, false, ref contactWriter);
break;
case CollisionType.Composite:
ConvexComposite(context, ColliderKey.Empty, colliderA, colliderB, worldFromA, worldFromB, expansion, false, ref contactWriter);
break;
}
break;
case CollisionType.Composite:
switch (colliderB->CollisionType)
{
case CollisionType.Convex:
CompositeConvex(context, colliderA, colliderB, worldFromA, worldFromB, expansion, false, ref contactWriter);
break;
case CollisionType.Composite:
CompositeComposite(context, colliderA, colliderB, worldFromA, worldFromB, expansion, false, ref contactWriter);
break;
}
break;
}
}