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.

Implements

ICollidable

IAspectQueryable

IDisposable

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetType()

Namespace: Unity.Physics

Assembly: solution.dll

Syntax

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

Constructors

Name	Description
CollisionWorld(int, int)	Construct a collision world with the given number of uninitialized rigid bodies.

Properties

Name	Description
Bodies	Gets the bodies.
CollisionTolerance	Contacts are always created between rigid bodies if they are closer than this distance threshold.
DynamicBodies	Gets the dynamic bodies.
NumBodies	Gets the number of bodies.
NumDynamicBodies	Gets the number of dynamic bodies.
NumStaticBodies	Gets the number of static bodies.
StaticBodies	Gets the static bodies.

Methods

Name	Description
BoxCast(float3, quaternion, float3, float3, float, out ColliderCastHit, CollisionFilter, QueryInteraction)	Box cast.
BoxCast(float3, quaternion, float3, float3, float, CollisionFilter, QueryInteraction)	Box cast.
BoxCastAll(float3, quaternion, float3, float3, float, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)	Box cast all.
BoxCastCustom<T>(float3, quaternion, float3, float3, float, ref T, CollisionFilter, QueryInteraction)	Box cast custom.
BuildBroadphase(ref PhysicsWorld, float, float3, bool)	Build the broadphase based on the given world.
CalculateAabb()	Calculates the aabb.
CalculateDistance(in ColliderAspect, float, ref NativeList<DistanceHit>, QueryInteraction)	Calculates the distance from the collider aspect.
CalculateDistance(in ColliderAspect, float, out DistanceHit, QueryInteraction)	Calculates the distance from the collider aspect.
CalculateDistance(in ColliderAspect, float, QueryInteraction)	Calculates the distance from the collider aspect.
CalculateDistance(ColliderDistanceInput)	Calculates the distance.
CalculateDistance(ColliderDistanceInput, ref NativeList<DistanceHit>)	Calculates the distance.
CalculateDistance(ColliderDistanceInput, out DistanceHit)	Calculates the distance.
CalculateDistance(PointDistanceInput)	Calculates the distance.
CalculateDistance(PointDistanceInput, ref NativeList<DistanceHit>)	Calculates the distance.
CalculateDistance(PointDistanceInput, out DistanceHit)	Calculates the distance.
CalculateDistance<T>(in ColliderAspect, float, ref T, QueryInteraction)	Calculates the distance from the collider aspect.
CalculateDistance<T>(ColliderDistanceInput, ref T)	Calculates the distance.
CalculateDistance<T>(PointDistanceInput, ref T)	Calculates the distance.
CapsuleCast(float3, float3, float, float3, float, out ColliderCastHit, CollisionFilter, QueryInteraction)	Capsule cast.
CapsuleCast(float3, float3, float, float3, float, CollisionFilter, QueryInteraction)	Capsule cast.
CapsuleCastAll(float3, float3, float, float3, float, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)	Capsule cast all.
CapsuleCastCustom<T>(float3, float3, float, float3, float, ref T, CollisionFilter, QueryInteraction)	Capsule cast custom.
CastCollider(in ColliderAspect, float3, float, ref NativeList<ColliderCastHit>, QueryInteraction)	Cast a collider aspect against this CollisionWorld.
CastCollider(in ColliderAspect, float3, float, out ColliderCastHit, QueryInteraction)	Cast a collider aspect against this CollisionWorld.
CastCollider(in ColliderAspect, float3, float, QueryInteraction)	Cast a collider aspect against this CollisionWorld.
CastCollider(ColliderCastInput)	Cast collider.
CastCollider(ColliderCastInput, ref NativeList<ColliderCastHit>)	Cast collider.
CastCollider(ColliderCastInput, out ColliderCastHit)	Cast collider.
CastCollider<T>(in ColliderAspect, float3, float, ref T, QueryInteraction)	Cast a collider aspect against this CollisionWorld.
CastCollider<T>(ColliderCastInput, ref T)	Cast collider.
CastRay(RaycastInput)	Cast ray.
CastRay(RaycastInput, ref NativeList<RaycastHit>)	Cast ray.
CastRay(RaycastInput, out RaycastHit)	Cast ray.
CastRay<T>(RaycastInput, ref T)	Cast ray.
CheckBox(float3, quaternion, float3, CollisionFilter, QueryInteraction)	Check box.
CheckCapsule(float3, float3, float, CollisionFilter, QueryInteraction)	Check capsule.
CheckSphere(float3, float, CollisionFilter, QueryInteraction)	Interfaces that represent queries that exist in the GameObjects world.
Clone()	Clone the world. Bodies and Broadphase are deep copied. Colliders are shallow copied.
Dispose()	Free internal memory.
FindOverlaps(ref Writer, ref Writer)	Write all overlapping body pairs to the given streams, where at least one of the bodies is dynamic. The results are unsorted.
GetRigidBodyIndex(Entity)	Gets the zero-based index of the rigid body.
OverlapAabb(OverlapAabbInput, ref NativeList<int>)	Test input against the broadphase tree, filling allHits with the body indices of every overlap. Returns true if there was at least overlap.
OverlapBox(float3, quaternion, float3, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)	Overlap box.
OverlapBoxCustom<T>(float3, quaternion, float3, ref T, CollisionFilter, QueryInteraction)	Overlap box custom.
OverlapCapsule(float3, float3, float, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)	Overlap capsule.
OverlapCapsuleCustom<T>(float3, float3, float, ref T, CollisionFilter, QueryInteraction)	Overlap capsule custom.
OverlapSphere(float3, float, ref NativeList<DistanceHit>, CollisionFilter, QueryInteraction)	Overlap sphere.
OverlapSphereCustom<T>(float3, float, ref T, CollisionFilter, QueryInteraction)	Overlap sphere custom.
Reset(int, int)	Resets this object.
ScheduleBuildBroadphaseJobs(ref PhysicsWorld, float, float3, ReadOnly, JobHandle, bool)	Schedule a set of jobs to build the broadphase based on the given world.
ScheduleFindOverlapsJobs(out NativeStream, out NativeStream, JobHandle, bool)	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.
ScheduleUpdateDynamicTree(ref PhysicsWorld, float, float3, JobHandle, bool)	Schedule a set of jobs to synchronize the collision world with the dynamics world.
SphereCast(float3, float, float3, float, out ColliderCastHit, CollisionFilter, QueryInteraction)	Sphere cast.
SphereCast(float3, float, float3, float, CollisionFilter, QueryInteraction)	Sphere cast.
SphereCastAll(float3, float, float3, float, ref NativeList<ColliderCastHit>, CollisionFilter, QueryInteraction)	Sphere cast all.
SphereCastCustom<T>(float3, float, float3, float, ref T, CollisionFilter, QueryInteraction)	Sphere cast custom.
UpdateBodyIndexMap()	Updates the body index map.
UpdateDynamicTree(ref PhysicsWorld, float, float3)	Synchronize the collision world with the dynamics world.