Struct CollisionWorld

A collection of rigid bodies wrapped by a bounding volume hierarchy. This allows to do collision queries such as raycasting, overlap testing, etc.

Inherited Members

ValueType.Equals(Object)

ValueType.GetHashCode()

ValueType.ToString()

Object.Equals(Object, Object)

Object.ReferenceEquals(Object, Object)

Object.GetType()

Namespace: Unity.Physics

Syntax

[NoAlias]
public struct CollisionWorld : ICollidable, IAspectQueryable, IDisposable

Constructors

CollisionWorld(Int32, Int32)

Construct a collision world with the given number of uninitialized rigid bodies.

Declaration

public CollisionWorld(int numStaticBodies, int numDynamicBodies)

Parameters

Type	Name	Description
Int32	numStaticBodies	Number of static bodies.
Int32	numDynamicBodies	Number of dynamic bodies.

Properties

Bodies

Gets the bodies.

Declaration

public readonly NativeArray<RigidBody> Bodies { get; }

Property Value

Type	Description
NativeArray<RigidBody>	The bodies.

CollisionTolerance

Contacts are always created between rigid bodies if they are closer than this distance threshold.

Declaration

public readonly float CollisionTolerance { get; }

Property Value

Type	Description
Single	The collision tolerance.

DynamicBodies

Gets the dynamic bodies.

Declaration

public readonly NativeArray<RigidBody> DynamicBodies { get; }

Property Value

Type	Description
NativeArray<RigidBody>	The dynamic bodies.

NumBodies

Gets the number of bodies.

Declaration

public readonly int NumBodies { get; }

Property Value

Type	Description
Int32	The total number of bodies.

NumDynamicBodies

Gets the number of dynamic bodies.

Declaration

public readonly int NumDynamicBodies { get; }

Property Value

Type	Description
Int32	The total number of dynamic bodies.

NumStaticBodies

Gets the number of static bodies.

Declaration

public readonly int NumStaticBodies { get; }

Property Value

Type	Description
Int32	The total number of static bodies.

StaticBodies

Gets the static bodies.

Declaration

public readonly NativeArray<RigidBody> StaticBodies { get; }

Property Value

Type	Description
NativeArray<RigidBody>	The static bodies.

Methods

BoxCast(float3, quaternion, float3, float3, Single, out ColliderCastHit, CollisionFilter, QueryInteraction)

Box cast.

Declaration

public bool BoxCast(float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, out ColliderCastHit hitInfo, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	center	The center.
quaternion	orientation	The orientation.
float3	halfExtents	Half extents of the box.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
ColliderCastHit	hitInfo	[out] Information describing the hit.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.BoxCast(float3, quaternion, float3, float3, Single, out ColliderCastHit, CollisionFilter, QueryInteraction)

BoxCast(float3, quaternion, float3, float3, Single, CollisionFilter, QueryInteraction)

Box cast.

Declaration

public bool BoxCast(float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	center	The center.
quaternion	orientation	The orientation.
float3	halfExtents	Half extents of the box.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.BoxCast(float3, quaternion, float3, float3, Single, CollisionFilter, QueryInteraction)

BoxCastAll(float3, quaternion, float3, float3, Single, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)

Box cast all.

Declaration

public bool BoxCastAll(float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, ref NativeList<ColliderCastHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	center	The center.
quaternion	orientation	The orientation.
float3	halfExtents	Half extents of the box.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
NativeList<ColliderCastHit>	outHits	[in,out] The out hits.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.BoxCastAll(float3, quaternion, float3, float3, Single, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)

BoxCastCustom<T>(float3, quaternion, float3, float3, Single, ref T, CollisionFilter, QueryInteraction)

Box cast custom.

Declaration

public bool BoxCastCustom<T>(float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
    where T : struct, ICollector<ColliderCastHit>

Parameters

Type	Name	Description
float3	center	The center.
quaternion	orientation	The orientation.
float3	halfExtents	Half extents of the box.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.BoxCastCustom<T>(float3, quaternion, float3, float3, Single, ref T, CollisionFilter, QueryInteraction)

BuildBroadphase(ref PhysicsWorld, Single, float3, Boolean)

Build the broadphase based on the given world.

Declaration

public void BuildBroadphase(ref PhysicsWorld world, float timeStep, float3 gravity, bool buildStaticTree = true)

Parameters

Type	Name	Description
PhysicsWorld	world	[in,out] The world.
Single	timeStep	The time step.
float3	gravity	The gravity.
Boolean	buildStaticTree	(Optional) True to build static tree.

CalculateAabb()

Calculates the aabb.

Declaration

public Aabb CalculateAabb()

Returns

Type	Description
Aabb	The calculated aabb.

Implements

ICollidable.CalculateAabb()

CalculateDistance(in ColliderAspect, Single, ref NativeList<DistanceHit>, QueryInteraction)

Calculates the distance from the collider aspect.

Declaration

public bool CalculateDistance(in ColliderAspect colliderAspect, float maxDistance, ref NativeList<DistanceHit> allHits, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
ColliderAspect	colliderAspect	The collider aspect.
Single	maxDistance	The maximum distance.
NativeList<DistanceHit>	allHits	[in,out] all hits.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

IAspectQueryable.CalculateDistance(in ColliderAspect, Single, ref NativeList<DistanceHit>, QueryInteraction)

CalculateDistance(in ColliderAspect, Single, out DistanceHit, QueryInteraction)

Calculates the distance from the collider aspect.

Declaration

public bool CalculateDistance(in ColliderAspect colliderAspect, float maxDistance, out DistanceHit closestHit, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
ColliderAspect	colliderAspect	The collider aspect.
Single	maxDistance	The maximum distance.
DistanceHit	closestHit	[out] The closest hit.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

IAspectQueryable.CalculateDistance(in ColliderAspect, Single, out DistanceHit, QueryInteraction)

CalculateDistance(in ColliderAspect, Single, QueryInteraction)

Calculates the distance from the collider aspect.

Declaration

public bool CalculateDistance(in ColliderAspect colliderAspect, float maxDistance, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
ColliderAspect	colliderAspect	The collider aspect.
Single	maxDistance	The maximum distance.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

IAspectQueryable.CalculateDistance(in ColliderAspect, Single, QueryInteraction)

CalculateDistance(ColliderDistanceInput)

Calculates the distance.

Declaration

public bool CalculateDistance(ColliderDistanceInput input)

Parameters

Type	Name	Description
ColliderDistanceInput	input	The input.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CalculateDistance(ColliderDistanceInput)

CalculateDistance(ColliderDistanceInput, ref NativeList<DistanceHit>)

Calculates the distance.

Declaration

public bool CalculateDistance(ColliderDistanceInput input, ref NativeList<DistanceHit> allHits)

Parameters

Type	Name	Description
ColliderDistanceInput	input	The input.
NativeList<DistanceHit>	allHits	[in,out] all hits.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CalculateDistance(ColliderDistanceInput, ref NativeList<DistanceHit>)

CalculateDistance(ColliderDistanceInput, out DistanceHit)

Calculates the distance.

Declaration

public bool CalculateDistance(ColliderDistanceInput input, out DistanceHit closestHit)

Parameters

Type	Name	Description
ColliderDistanceInput	input	The input.
DistanceHit	closestHit	[out] The closest hit.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CalculateDistance(ColliderDistanceInput, out DistanceHit)

CalculateDistance(PointDistanceInput)

Calculates the distance.

Declaration

public bool CalculateDistance(PointDistanceInput input)

Parameters

Type	Name	Description
PointDistanceInput	input	The input.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CalculateDistance(PointDistanceInput)

CalculateDistance(PointDistanceInput, ref NativeList<DistanceHit>)

Calculates the distance.

Declaration

public bool CalculateDistance(PointDistanceInput input, ref NativeList<DistanceHit> allHits)

Parameters

Type	Name	Description
PointDistanceInput	input	The input.
NativeList<DistanceHit>	allHits	[in,out] all hits.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CalculateDistance(PointDistanceInput, ref NativeList<DistanceHit>)

CalculateDistance(PointDistanceInput, out DistanceHit)

Calculates the distance.

Declaration

public bool CalculateDistance(PointDistanceInput input, out DistanceHit closestHit)

Parameters

Type	Name	Description
PointDistanceInput	input	The input.
DistanceHit	closestHit	[out] The closest hit.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CalculateDistance(PointDistanceInput, out DistanceHit)

CalculateDistance<T>(in ColliderAspect, Single, ref T, QueryInteraction)

Calculates the distance from the collider aspect.

Declaration

public bool CalculateDistance<T>(in ColliderAspect colliderAspect, float maxDistance, ref T collector, QueryInteraction queryInteraction = QueryInteraction.Default)
    where T : struct, ICollector<DistanceHit>

Parameters

Type	Name	Description
ColliderAspect	colliderAspect	The collider aspect.
Single	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

IAspectQueryable.CalculateDistance<T>(in ColliderAspect, Single, ref T, QueryInteraction)

CalculateDistance<T>(ColliderDistanceInput, ref T)

Calculates the distance.

Declaration

public bool CalculateDistance<T>(ColliderDistanceInput input, ref T collector)
    where T : struct, ICollector<DistanceHit>

Parameters

Type	Name	Description
ColliderDistanceInput	input	The input.
T	collector	[in,out] The collector.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.CalculateDistance<T>(ColliderDistanceInput, ref T)

CalculateDistance<T>(PointDistanceInput, ref T)

Calculates the distance.

Declaration

public bool CalculateDistance<T>(PointDistanceInput input, ref T collector)
    where T : struct, ICollector<DistanceHit>

Parameters

Type	Name	Description
PointDistanceInput	input	The input.
T	collector	[in,out] The collector.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.CalculateDistance<T>(PointDistanceInput, ref T)

CapsuleCast(float3, float3, Single, float3, Single, out ColliderCastHit, CollisionFilter, QueryInteraction)

Capsule cast.

Declaration

public bool CapsuleCast(float3 point1, float3 point2, float radius, float3 direction, float maxDistance, out ColliderCastHit hitInfo, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	point1	The first point in capsule definition.
float3	point2	The second point in capsule definition.
Single	radius	The radius.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
ColliderCastHit	hitInfo	[out] Information describing the hit.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CapsuleCast(float3, float3, Single, float3, Single, out ColliderCastHit, CollisionFilter, QueryInteraction)

CapsuleCast(float3, float3, Single, float3, Single, CollisionFilter, QueryInteraction)

Capsule cast.

Declaration

public bool CapsuleCast(float3 point1, float3 point2, float radius, float3 direction, float maxDistance, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	point1	The first point in capsule definition.
float3	point2	The second point in capsule definition.
Single	radius	The radius.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CapsuleCast(float3, float3, Single, float3, Single, CollisionFilter, QueryInteraction)

CapsuleCastAll(float3, float3, Single, float3, Single, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)

Capsule cast all.

Declaration

public bool CapsuleCastAll(float3 point1, float3 point2, float radius, float3 direction, float maxDistance, ref NativeList<ColliderCastHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	point1	The first point in capsule definition.
float3	point2	The second point in capsule definition.
Single	radius	The radius.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
NativeList<ColliderCastHit>	outHits	[in,out] The out hits.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CapsuleCastAll(float3, float3, Single, float3, Single, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)

CapsuleCastCustom<T>(float3, float3, Single, float3, Single, ref T, CollisionFilter, QueryInteraction)

Capsule cast custom.

Declaration

public bool CapsuleCastCustom<T>(float3 point1, float3 point2, float radius, float3 direction, float maxDistance, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
    where T : struct, ICollector<ColliderCastHit>

Parameters

Type	Name	Description
float3	point1	The first point in capsule definition.
float3	point2	The second point in capsule definition.
Single	radius	The radius.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.CapsuleCastCustom<T>(float3, float3, Single, float3, Single, ref T, CollisionFilter, QueryInteraction)

CastCollider(in ColliderAspect, float3, Single, ref NativeList<ColliderCastHit>, QueryInteraction)

Cast a collider aspect against this CollisionWorld.

Declaration

public bool CastCollider(in ColliderAspect colliderAspect, float3 direction, float maxDistance, ref NativeList<ColliderCastHit> allHits, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
ColliderAspect	colliderAspect	The collider aspect.
float3	direction	The direction of the aspect.
Single	maxDistance	The maximum distance.
NativeList<ColliderCastHit>	allHits	[in,out] all hits.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

IAspectQueryable.CastCollider(in ColliderAspect, float3, Single, ref NativeList<ColliderCastHit>, QueryInteraction)

CastCollider(in ColliderAspect, float3, Single, out ColliderCastHit, QueryInteraction)

Cast a collider aspect against this CollisionWorld.

Declaration

public bool CastCollider(in ColliderAspect colliderAspect, float3 direction, float maxDistance, out ColliderCastHit closestHit, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
ColliderAspect	colliderAspect	The collider aspect.
float3	direction	The direction of the aspect.
Single	maxDistance	The maximum distance.
ColliderCastHit	closestHit	[out] The closest hit.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

IAspectQueryable.CastCollider(in ColliderAspect, float3, Single, out ColliderCastHit, QueryInteraction)

CastCollider(in ColliderAspect, float3, Single, QueryInteraction)

Cast a collider aspect against this CollisionWorld.

Declaration

public bool CastCollider(in ColliderAspect colliderAspect, float3 direction, float maxDistance, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
ColliderAspect	colliderAspect	The collider aspect.
float3	direction	The direction of the aspect.
Single	maxDistance	The maximum distance.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

IAspectQueryable.CastCollider(in ColliderAspect, float3, Single, QueryInteraction)

CastCollider(ColliderCastInput)

Cast collider.

Declaration

public bool CastCollider(ColliderCastInput input)

Parameters

Type	Name	Description
ColliderCastInput	input	The input.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CastCollider(ColliderCastInput)

CastCollider(ColliderCastInput, ref NativeList<ColliderCastHit>)

Cast collider.

Declaration

public bool CastCollider(ColliderCastInput input, ref NativeList<ColliderCastHit> allHits)

Parameters

Type	Name	Description
ColliderCastInput	input	The input.
NativeList<ColliderCastHit>	allHits	[in,out] all hits.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CastCollider(ColliderCastInput, ref NativeList<ColliderCastHit>)

CastCollider(ColliderCastInput, out ColliderCastHit)

Cast collider.

Declaration

public bool CastCollider(ColliderCastInput input, out ColliderCastHit closestHit)

Parameters

Type	Name	Description
ColliderCastInput	input	The input.
ColliderCastHit	closestHit	[out] The closest hit.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CastCollider(ColliderCastInput, out ColliderCastHit)

CastCollider<T>(in ColliderAspect, float3, Single, ref T, QueryInteraction)

Cast a collider aspect against this CollisionWorld.

Declaration

public bool CastCollider<T>(in ColliderAspect colliderAspect, float3 direction, float maxDistance, ref T collector, QueryInteraction queryInteraction = QueryInteraction.Default)
    where T : struct, ICollector<ColliderCastHit>

Parameters

Type	Name	Description
ColliderAspect	colliderAspect	The collider aspect.
float3	direction	The direction of the aspect.
Single	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

IAspectQueryable.CastCollider<T>(in ColliderAspect, float3, Single, ref T, QueryInteraction)

CastCollider<T>(ColliderCastInput, ref T)

Cast collider.

Declaration

public bool CastCollider<T>(ColliderCastInput input, ref T collector)
    where T : struct, ICollector<ColliderCastHit>

Parameters

Type	Name	Description
ColliderCastInput	input	The input.
T	collector	[in,out] The collector.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.CastCollider<T>(ColliderCastInput, ref T)

CastRay(RaycastInput)

Cast ray.

Declaration

public bool CastRay(RaycastInput input)

Parameters

Type	Name	Description
RaycastInput	input	The input.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CastRay(RaycastInput)

CastRay(RaycastInput, ref NativeList<RaycastHit>)

Cast ray.

Declaration

public bool CastRay(RaycastInput input, ref NativeList<RaycastHit> allHits)

Parameters

Type	Name	Description
RaycastInput	input	The input.
NativeList<RaycastHit>	allHits	[in,out] all hits.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CastRay(RaycastInput, ref NativeList<RaycastHit>)

CastRay(RaycastInput, out RaycastHit)

Cast ray.

Declaration

public bool CastRay(RaycastInput input, out RaycastHit closestHit)

Parameters

Type	Name	Description
RaycastInput	input	The input.
RaycastHit	closestHit	[out] The closest hit.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CastRay(RaycastInput, out RaycastHit)

CastRay<T>(RaycastInput, ref T)

Cast ray.

Declaration

public bool CastRay<T>(RaycastInput input, ref T collector)
    where T : struct, ICollector<RaycastHit>

Parameters

Type	Name	Description
RaycastInput	input	The input.
T	collector	[in,out] The collector.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.CastRay<T>(RaycastInput, ref T)

CheckBox(float3, quaternion, float3, CollisionFilter, QueryInteraction)

Check box.

Declaration

public bool CheckBox(float3 center, quaternion orientation, float3 halfExtents, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	center	The center.
quaternion	orientation	The orientation.
float3	halfExtents	Half extents of the box.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CheckBox(float3, quaternion, float3, CollisionFilter, QueryInteraction)

CheckCapsule(float3, float3, Single, CollisionFilter, QueryInteraction)

Check capsule.

Declaration

public bool CheckCapsule(float3 point1, float3 point2, float radius, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	point1	The first point in capsule definition.
float3	point2	The second point in capsule definition.
Single	radius	The radius.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CheckCapsule(float3, float3, Single, CollisionFilter, QueryInteraction)

CheckSphere(float3, Single, CollisionFilter, QueryInteraction)

Interfaces that represent queries that exist in the GameObjects world.

Declaration

public bool CheckSphere(float3 position, float radius, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	position	The position.
Single	radius	The radius.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.CheckSphere(float3, Single, CollisionFilter, QueryInteraction)

Clone()

Clone the world. Bodies and Broadphase are deep copied. Colliders are shallow copied.

Declaration

public CollisionWorld Clone()

Returns

Type	Description
CollisionWorld	A copy of this object.

Dispose()

Free internal memory.

Declaration

public void Dispose()

Implements

IDisposable.Dispose()

FindOverlaps(ref NativeStream.Writer, ref NativeStream.Writer)

Write all overlapping body pairs to the given streams, where at least one of the bodies is dynamic. The results are unsorted.

Declaration

public void FindOverlaps(ref NativeStream.Writer dynamicVsDynamicPairsWriter, ref NativeStream.Writer staticVsDynamicPairsWriter)

Parameters

Type	Name	Description
NativeStream.Writer	dynamicVsDynamicPairsWriter	[in,out] The dynamic vs dynamic pairs writer.
NativeStream.Writer	staticVsDynamicPairsWriter	[in,out] The static vs dynamic pairs writer.

GetRigidBodyIndex(Entity)

Gets the zero-based index of the rigid body.

Declaration

public int GetRigidBodyIndex(Entity entity)

Parameters

Type	Name	Description
Entity	entity	The entity.

Returns

Type	Description
Int32	The rigid body index.

OverlapAabb(OverlapAabbInput, ref NativeList<Int32>)

Test input against the broadphase tree, filling allHits with the body indices of every overlap. Returns true if there was at least overlap.

Declaration

public bool OverlapAabb(OverlapAabbInput input, ref NativeList<int> allHits)

Parameters

Type	Name	Description
OverlapAabbInput	input	The input.
NativeList<Int32>	allHits	[in,out] all hits.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

OverlapBox(float3, quaternion, float3, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)

Overlap box.

Declaration

public bool OverlapBox(float3 center, quaternion orientation, float3 halfExtents, ref NativeList<DistanceHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	center	The center.
quaternion	orientation	The orientation.
float3	halfExtents	Half extents of the box.
NativeList<DistanceHit>	outHits	[in,out] The out hits.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.OverlapBox(float3, quaternion, float3, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)

OverlapBoxCustom<T>(float3, quaternion, float3, ref T, CollisionFilter, QueryInteraction)

Overlap box custom.

Declaration

public bool OverlapBoxCustom<T>(float3 center, quaternion orientation, float3 halfExtents, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
    where T : struct, ICollector<DistanceHit>

Parameters

Type	Name	Description
float3	center	The center.
quaternion	orientation	The orientation.
float3	halfExtents	Half extents of the box.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.OverlapBoxCustom<T>(float3, quaternion, float3, ref T, CollisionFilter, QueryInteraction)

OverlapCapsule(float3, float3, Single, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)

Overlap capsule.

Declaration

public bool OverlapCapsule(float3 point1, float3 point2, float radius, ref NativeList<DistanceHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	point1	The first point in capsule definition.
float3	point2	The second point in capsule definition.
Single	radius	The radius.
NativeList<DistanceHit>	outHits	[in,out] The out hits.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.OverlapCapsule(float3, float3, Single, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)

OverlapCapsuleCustom<T>(float3, float3, Single, ref T, CollisionFilter, QueryInteraction)

Overlap capsule custom.

Declaration

public bool OverlapCapsuleCustom<T>(float3 point1, float3 point2, float radius, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
    where T : struct, ICollector<DistanceHit>

Parameters

Type	Name	Description
float3	point1	The first point in capsule definition.
float3	point2	The second point in capsule definition.
Single	radius	The radius.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.OverlapCapsuleCustom<T>(float3, float3, Single, ref T, CollisionFilter, QueryInteraction)

OverlapSphere(float3, Single, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)

Overlap sphere.

Declaration

public bool OverlapSphere(float3 position, float radius, ref NativeList<DistanceHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	position	The position.
Single	radius	The radius.
NativeList<DistanceHit>	outHits	[in,out] The out hits.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.OverlapSphere(float3, Single, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)

OverlapSphereCustom<T>(float3, Single, ref T, CollisionFilter, QueryInteraction)

Overlap sphere custom.

Declaration

public bool OverlapSphereCustom<T>(float3 position, float radius, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
    where T : struct, ICollector<DistanceHit>

Parameters

Type	Name	Description
float3	position	The position.
Single	radius	The radius.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.OverlapSphereCustom<T>(float3, Single, ref T, CollisionFilter, QueryInteraction)

Reset(Int32, Int32)

Resets this object.

Declaration

public void Reset(int numStaticBodies, int numDynamicBodies)

Parameters

Type	Name	Description
Int32	numStaticBodies	Number of static bodies.
Int32	numDynamicBodies	Number of dynamic bodies.

ScheduleBuildBroadphaseJobs(ref PhysicsWorld, Single, float3, NativeReference<Int32>.ReadOnly, JobHandle, Boolean)

Schedule a set of jobs to build the broadphase based on the given world.

Declaration

public JobHandle ScheduleBuildBroadphaseJobs(ref PhysicsWorld world, float timeStep, float3 gravity, NativeReference<int>.ReadOnly buildStaticTree, JobHandle inputDeps, bool multiThreaded = true)

Parameters

Type	Name	Description
PhysicsWorld	world	[in,out] The world.
Single	timeStep	The time step.
float3	gravity	The gravity.
NativeReference.ReadOnly<>	buildStaticTree	The build static tree.
JobHandle	inputDeps	The input deps.
Boolean	multiThreaded	(Optional) True if multi threaded.

Returns

Type	Description
JobHandle	A JobHandle.

ScheduleFindOverlapsJobs(out NativeStream, out NativeStream, JobHandle, Boolean)

Schedule a set of jobs which will write all overlapping body pairs to the given steam, where at least one of the bodies is dynamic. The results are unsorted.

Declaration

public SimulationJobHandles ScheduleFindOverlapsJobs(out NativeStream dynamicVsDynamicPairsStream, out NativeStream staticVsDynamicPairsStream, JobHandle inputDeps, bool multiThreaded = true)

Parameters

Type	Name	Description
NativeStream	dynamicVsDynamicPairsStream	[out] The dynamic vs dynamic pairs stream.
NativeStream	staticVsDynamicPairsStream	[out] The static vs dynamic pairs stream.
JobHandle	inputDeps	The input deps.
Boolean	multiThreaded	(Optional) True if multi threaded.

Returns

Type	Description
SimulationJobHandles	The SimulationJobHandles.

ScheduleUpdateDynamicTree(ref PhysicsWorld, Single, float3, JobHandle, Boolean)

Schedule a set of jobs to synchronize the collision world with the dynamics world.

Declaration

public JobHandle ScheduleUpdateDynamicTree(ref PhysicsWorld world, float timeStep, float3 gravity, JobHandle inputDeps, bool multiThreaded = true)

Parameters

Type	Name	Description
PhysicsWorld	world	[in,out] The world.
Single	timeStep	The time step.
float3	gravity	The gravity.
JobHandle	inputDeps	The input deps.
Boolean	multiThreaded	(Optional) True if multi threaded.

Returns

Type	Description
JobHandle	A JobHandle.

SphereCast(float3, Single, float3, Single, out ColliderCastHit, CollisionFilter, QueryInteraction)

Sphere cast.

Declaration

public bool SphereCast(float3 origin, float radius, float3 direction, float maxDistance, out ColliderCastHit hitInfo, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	origin	The origin.
Single	radius	The radius.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
ColliderCastHit	hitInfo	[out] Information describing the hit.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.SphereCast(float3, Single, float3, Single, out ColliderCastHit, CollisionFilter, QueryInteraction)

SphereCast(float3, Single, float3, Single, CollisionFilter, QueryInteraction)

Sphere cast.

Declaration

public bool SphereCast(float3 origin, float radius, float3 direction, float maxDistance, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	origin	The origin.
Single	radius	The radius.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.SphereCast(float3, Single, float3, Single, CollisionFilter, QueryInteraction)

SphereCastAll(float3, Single, float3, Single, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)

Sphere cast all.

Declaration

public bool SphereCastAll(float3 origin, float radius, float3 direction, float maxDistance, ref NativeList<ColliderCastHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)

Parameters

Type	Name	Description
float3	origin	The origin.
Single	radius	The radius.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
NativeList<ColliderCastHit>	outHits	[in,out] The out hits.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Implements

ICollidable.SphereCastAll(float3, Single, float3, Single, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)

SphereCastCustom<T>(float3, Single, float3, Single, ref T, CollisionFilter, QueryInteraction)

Sphere cast custom.

Declaration

public bool SphereCastCustom<T>(float3 origin, float radius, float3 direction, float maxDistance, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction = QueryInteraction.Default)
    where T : struct, ICollector<ColliderCastHit>

Parameters

Type	Name	Description
float3	origin	The origin.
Single	radius	The radius.
float3	direction	The direction.
Single	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

Type	Description
Boolean	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

Implements

ICollidable.SphereCastCustom<T>(float3, Single, float3, Single, ref T, CollisionFilter, QueryInteraction)

UpdateBodyIndexMap()

Updates the body index map.

Declaration

public void UpdateBodyIndexMap()

UpdateDynamicTree(ref PhysicsWorld, Single, float3)

Synchronize the collision world with the dynamics world.

Declaration

public void UpdateDynamicTree(ref PhysicsWorld world, float timeStep, float3 gravity)

Parameters

Type	Name	Description
PhysicsWorld	world	[in,out] The world.
Single	timeStep	The time step.
float3	gravity	The gravity.