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