57 lines
2.4 KiB
C#
57 lines
2.4 KiB
C#
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
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using Unity.Collections;
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using Unity.Mathematics;
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namespace Obi
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{
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public struct BurstSphereQuery : BurstLocalOptimization.IDistanceFunction
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{
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public BurstQueryShape shape;
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public BurstAffineTransform colliderToSolver;
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public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
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{
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float4 center = shape.center * colliderToSolver.scale;
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point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
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/*if (shape.is2D != 0)
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point[2] = 0;*/
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float radius = shape.size.x * math.cmax(colliderToSolver.scale.xyz);
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float distanceToCenter = math.length(point);
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float4 normal = point / (distanceToCenter + BurstMath.epsilon);
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projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + normal * (radius + shape.contactOffset));
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projectedPoint.normal = colliderToSolver.TransformDirection(normal);
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}
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public void Query(int shapeIndex,
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NativeArray<float4> positions,
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NativeArray<quaternion> orientations,
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NativeArray<float4> radii,
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NativeArray<int> simplices,
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int simplexIndex,
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int simplexStart,
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int simplexSize,
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NativeQueue<BurstQueryResult>.ParallelWriter results,
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int optimizationIterations,
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float optimizationTolerance)
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{
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var co = new BurstQueryResult() { simplexIndex = simplexIndex, queryIndex = shapeIndex };
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float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
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var colliderPoint = BurstLocalOptimization.Optimize<BurstSphereQuery>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
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ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
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co.queryPoint = colliderPoint.point;
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co.normal = colliderPoint.normal;
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co.simplexBary = simplexBary;
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results.Enqueue(co);
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}
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}
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}
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#endif |