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Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs

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+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi.Samples
+{
+    [RequireComponent(typeof(ObiSolver))]
+    public class CollisionEventHandler : MonoBehaviour
+    {
+
+        ObiSolver solver;
+        public int contactCount;
+
+        ObiNativeContactList frame;
+
+        void Awake()
+        {
+            solver = GetComponent<Obi.ObiSolver>();
+        }
+
+        void OnEnable()
+        {
+            solver.OnCollision += Solver_OnCollision;
+        }
+
+        void OnDisable()
+        {
+            solver.OnCollision -= Solver_OnCollision;
+        }
+
+        void Solver_OnCollision(object sender, ObiNativeContactList e)
+        {
+            frame = e;
+        }
+
+        void OnDrawGizmos()
+        {
+            if (solver == null || frame == null) return;
+
+            Gizmos.matrix = solver.transform.localToWorldMatrix;
+
+            contactCount = frame.count;
+
+            for (int i = 0; i < frame.count; ++i)
+            {
+                var contact = frame[i];
+
+                //if (contact.distance > 0.001f) continue;
+
+                Gizmos.color = (contact.distance <= 0) ? Color.red : Color.green;
+
+                //Gizmos.color = new Color(((i * 100) % 255) / 255.0f, ((i * 50) % 255) / 255.0f, ((i * 20) % 255) / 255.0f);
+
+                Vector3 point = frame[i].pointB;
+
+                Gizmos.DrawSphere(point, 0.01f);
+
+                Gizmos.DrawRay(point, contact.normal * contact.distance);
+
+                Gizmos.color = Color.cyan;
+                //Gizmos.DrawRay(point, contact.tangent * contact.tangentImpulse + contact.bitangent * contact.bitangentImpulse);
+
+            }
+
+            /*for (int i = 0; i < frame.count; ++i)
+            {
+                var contact = frame[i];
+
+                //if (contact.distance > 0.001f) continue;
+
+                Gizmos.color = (contact.distance <= 0) ? Color.red : Color.green;
+
+                //Gizmos.color = new Color(((i * 100) % 255) / 255.0f, ((i * 50) % 255) / 255.0f, ((i * 20) % 255) / 255.0f);
+
+                Vector3 point = Vector3.zero;//frame.contacts.Data[i].point;
+
+                int simplexStart = solver.simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSize);
+
+                float radius = 0;
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    point += (Vector3)solver.positions[solver.simplices[simplexStart + j]] * contact.pointB[j];
+                    radius += solver.principalRadii[solver.simplices[simplexStart + j]].x * contact.pointB[j];
+                }
+
+                Vector3 normal = contact.normal;
+
+                //Gizmos.DrawSphere(point + normal.normalized * frame.contacts[i].distance, 0.01f);
+
+                Gizmos.DrawSphere(point + normal * radius, 0.01f);
+
+                Gizmos.DrawRay(point + normal * radius, normal.normalized * contact.distance);
+            }*/
+        }
+
+    }
+}