Struct PhysicsWorld

A collection of rigid bodies and joints.

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 PhysicsWorld : ICollidable, IAspectQueryable, IDisposable

Constructors

PhysicsWorld(Int32, Int32, Int32)

Construct a world with the given number of uninitialized bodies and joints.

Declaration

public PhysicsWorld(int numStaticBodies, int numDynamicBodies, int numJoints)

Parameters

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

Fields

CollisionWorld

Stores rigid bodies and broadphase.

Declaration

[NoAlias]
public CollisionWorld CollisionWorld

Field Value

Type	Description
CollisionWorld

DynamicsWorld

Stores motions and joints.

Declaration

[NoAlias]
public DynamicsWorld DynamicsWorld

Field Value

Type	Description
DynamicsWorld

Properties

Bodies

Gets the bodies.

Declaration

public readonly NativeArray<RigidBody> Bodies { get; }

Property Value

Type	Description
NativeArray<RigidBody>	The bodies.

DynamicBodies

Gets the dynamic bodies.

Declaration

public readonly NativeArray<RigidBody> DynamicBodies { get; }

Property Value

Type	Description
NativeArray<RigidBody>	The dynamic bodies.

Joints

Gets the joints.

Declaration

public readonly NativeArray<Joint> Joints { get; }

Property Value

Type	Description
NativeArray<Joint>	The joints.

MotionDatas

Gets the motion datas.

Declaration

public readonly NativeArray<MotionData> MotionDatas { get; }

Property Value

Type	Description
NativeArray<MotionData>	The motion datas.

MotionVelocities

Gets the motion velocities.

Declaration

public readonly NativeArray<MotionVelocity> MotionVelocities { get; }

Property Value

Type	Description
NativeArray<MotionVelocity>	The motion velocities.

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.

NumJoints

Gets the number of joints.

Declaration

public readonly int NumJoints { get; }

Property Value

Type	Description
Int32	The total number of joints.

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)

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 an 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 an 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 an 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 an 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 an aspect against this PhysicsWorld.

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.
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 an aspect against this PhysicsWorld.

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.
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 an aspect against this PhysicsWorld.

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.
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 an aspect against this PhysicsWorld.

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.
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)

Checks if a sphere is overlapping with this 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.

Declaration

public PhysicsWorld Clone()

Returns

Type	Description
PhysicsWorld	A copy of this object.

Dispose()

Free internal memory.

Declaration

public void Dispose()

Implements

IDisposable.Dispose()

GetJointIndex(Entity)

Gets the zero-based index of the joint.

Declaration

public int GetJointIndex(Entity entity)

Parameters

Type	Name	Description
Entity	entity	The entity.

Returns

Type	Description
Int32	The joint index.

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>)

Overlap aabb.

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, Int32)

Reset the number of bodies and joints in the world.

Declaration

public void Reset(int numStaticBodies, int numDynamicBodies, int numJoints)

Parameters

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

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)

UpdateIndexMaps()

NOTE: The BuildPhysicsWorld system updates the Body and Joint Index Maps. If the PhysicsWorld is being setup and updated directly then this UpdateIndexMaps function should be called manually as well.

Declaration

public void UpdateIndexMaps()

Extension Methods

PhysicsWorldExtensions.GetCollisionFilter(in PhysicsWorld, Int32)

PhysicsWorldExtensions.GetMass(in PhysicsWorld, Int32)

PhysicsWorldExtensions.GetEffectiveMass(in PhysicsWorld, Int32, float3, float3)

PhysicsWorldExtensions.GetCenterOfMass(in PhysicsWorld, Int32)

PhysicsWorldExtensions.GetPosition(in PhysicsWorld, Int32)

PhysicsWorldExtensions.GetRotation(in PhysicsWorld, Int32)

PhysicsWorldExtensions.GetLinearVelocity(in PhysicsWorld, Int32)

PhysicsWorldExtensions.SetLinearVelocity(PhysicsWorld, Int32, float3)

PhysicsWorldExtensions.GetLinearVelocity(in PhysicsWorld, Int32, float3)

PhysicsWorldExtensions.GetAngularVelocity(in PhysicsWorld, Int32)

PhysicsWorldExtensions.SetAngularVelocity(PhysicsWorld, Int32, float3)

PhysicsWorldExtensions.ApplyImpulse(PhysicsWorld, Int32, float3, float3)

PhysicsWorldExtensions.ApplyLinearImpulse(PhysicsWorld, Int32, float3)

PhysicsWorldExtensions.ApplyAngularImpulse(PhysicsWorld, Int32, float3)

PhysicsWorldExtensions.CalculateVelocityToTarget(PhysicsWorld, Int32, RigidTransform, Single, out float3, out float3)