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.GetType()

object.ReferenceEquals(object, object)

Namespace: Unity.Physics

Assembly: Unity.Physics.dll

Syntax

public struct CollisionWorld : ICollidable, IAspectQueryable, IDisposable

Constructors

CollisionWorld(int, int)

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

Declaration

public CollisionWorld(int numStaticBodies, int numDynamicBodies)

Parameters

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

Fields

CollisionTolerance

Sets the collision tolerance.

Contacts are always created between rigid bodies if they are closer than this distance threshold. Default value is DefaultCollisionTolerance.

Declaration

public float CollisionTolerance

Field Value

Type	Description
float	The collision tolerance.

DefaultCollisionTolerance

Default CollisionTolerance value.

Declaration

public const float DefaultCollisionTolerance = 0.01

Field Value

Type	Description
float

Properties

Bodies

Gets the bodies.

Declaration

public NativeArray<RigidBody> Bodies { get; }

Property Value

Type	Description
NativeArray<RigidBody>	The bodies.

DynamicBodies

Gets the dynamic bodies.

Declaration

public NativeArray<RigidBody> DynamicBodies { get; }

Property Value

Type	Description
NativeArray<RigidBody>	The dynamic bodies.

NumBodies

Gets the number of bodies.

Declaration

public int NumBodies { get; }

Property Value

Type	Description
int	The total number of bodies.

NumDynamicBodies

Gets the number of dynamic bodies.

Declaration

public int NumDynamicBodies { get; }

Property Value

Type	Description
int	The total number of dynamic bodies.

NumStaticBodies

Gets the number of static bodies.

Declaration

public int NumStaticBodies { get; }

Property Value

Type	Description
int	The total number of static bodies.

StaticBodies

Gets the static bodies.

Declaration

public NativeArray<RigidBody> StaticBodies { get; }

Property Value

Type	Description
NativeArray<RigidBody>	The static bodies.

Methods

BoxCast(float3, quaternion, float3, float3, float, 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.
float	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
bool	True if there is a hit, false otherwise.

BoxCast(float3, quaternion, float3, float3, float, 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.
float	maxDistance	The maximum distance.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

BoxCastAll(float3, quaternion, float3, float3, float, 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.
float	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
bool	True if there is a hit, false otherwise.

BoxCastCustom<T>(float3, quaternion, float3, float3, float, 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.
float	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

Type Parameters

Name	Description
T	Generic type parameter.

BuildBroadphase(ref PhysicsWorld, float, float3, bool)

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.
float	timeStep	The time step.
float3	gravity	The gravity.
bool	buildStaticTree	(Optional) True to build static tree.

CalculateAabb()

Calculates the aabb.

Declaration

public Aabb CalculateAabb()

Returns

Type	Description
Aabb	The calculated aabb.

CalculateDistance(in ColliderAspect, float, 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.
float	maxDistance	The maximum distance.
NativeList<DistanceHit>	allHits	[in,out] all hits.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

CalculateDistance(in ColliderAspect, float, 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.
float	maxDistance	The maximum distance.
DistanceHit	closestHit	[out] The closest hit.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

CalculateDistance(in ColliderAspect, float, 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.
float	maxDistance	The maximum distance.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

CalculateDistance(ColliderDistanceInput)

Calculates the distance.

Declaration

public bool CalculateDistance(ColliderDistanceInput input)

Parameters

Type	Name	Description
ColliderDistanceInput	input	The input.

Returns

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

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
bool	True if there is a hit, false otherwise.

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
bool	True if there is a hit, false otherwise.

CalculateDistance(PointDistanceInput)

Calculates the distance.

Declaration

public bool CalculateDistance(PointDistanceInput input)

Parameters

Type	Name	Description
PointDistanceInput	input	The input.

Returns

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

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
bool	True if there is a hit, false otherwise.

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
bool	True if there is a hit, false otherwise.

CalculateDistance<T>(in ColliderAspect, float, 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.
float	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

Type Parameters

Name	Description
T	Generic type parameter.

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
bool	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

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
bool	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

CapsuleCast(float3, float3, float, float3, float, 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.
float	radius	The radius.
float3	direction	The direction.
float	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
bool	True if there is a hit, false otherwise.

CapsuleCast(float3, float3, float, float3, float, 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.
float	radius	The radius.
float3	direction	The direction.
float	maxDistance	The maximum distance.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

CapsuleCastAll(float3, float3, float, float3, float, 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.
float	radius	The radius.
float3	direction	The direction.
float	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
bool	True if there is a hit, false otherwise.

CapsuleCastCustom<T>(float3, float3, float, float3, float, 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.
float	radius	The radius.
float3	direction	The direction.
float	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

Type Parameters

Name	Description
T	Generic type parameter.

CastCollider(in ColliderAspect, float3, float, 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.
float	maxDistance	The maximum distance.
NativeList<ColliderCastHit>	allHits	[in,out] all hits.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

CastCollider(in ColliderAspect, float3, float, 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.
float	maxDistance	The maximum distance.
ColliderCastHit	closestHit	[out] The closest hit.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

CastCollider(in ColliderAspect, float3, float, 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.
float	maxDistance	The maximum distance.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

CastCollider(ColliderCastInput)

Cast collider.

Declaration

public bool CastCollider(ColliderCastInput input)

Parameters

Type	Name	Description
ColliderCastInput	input	The input.

Returns

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

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
bool	True if there is a hit, false otherwise.

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
bool	True if there is a hit, false otherwise.

CastCollider<T>(in ColliderAspect, float3, float, 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.
float	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

Type Parameters

Name	Description
T	Generic type parameter.

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
bool	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

CastRay(RaycastInput)

Cast ray.

Declaration

public bool CastRay(RaycastInput input)

Parameters

Type	Name	Description
RaycastInput	input	The input.

Returns

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

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
bool	True if there is a hit, false otherwise.

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
bool	True if there is a hit, false otherwise.

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
bool	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

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
bool	True if there is a hit, false otherwise.

CheckCapsule(float3, float3, float, 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.
float	radius	The radius.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

CheckSphere(float3, float, 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.
float	radius	The radius.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

Clone()

Clone the world.

The Broadphase is deep copied. All data in rigid bodies is deep copied, except for their colliders, which are shallow copied.

Declaration

public CollisionWorld Clone()

Returns

Type	Description
CollisionWorld	A copy of this object.

Clone(bool, bool, NativeList<int>)

Clone the world.

The Broadphase is deep copied. All data in rigid bodies is deep copied, except for their colliders, which are optionally deep copied or shallow copied.

Declaration

public CollisionWorld Clone(bool deepCopyDynamicColliders, bool deepCopyStaticColliders = false, NativeList<int> deepCopyRigidBodyList = default)

Parameters

Type	Name	Description
bool	deepCopyDynamicColliders	Deep copy all dynamic colliders.
bool	deepCopyStaticColliders	Deep copy all static colliders.
NativeList<int>	deepCopyRigidBodyList	Deep copy colliders of the rigid bodies in the list, each specified by its index. Must not contain duplicate entries, and must not contain indices of rigid bodies whose colliders will already be deep copied due to the values chosen for the deepCopyDynamicColliders and deepCopyStaticColliders parameters.

Returns

Type	Description
CollisionWorld	A copy of this object.

Dispose()

Free internal memory.

Declaration

public void Dispose()

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.

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
int	The rigid body index.

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.

Declaration

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

Parameters

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

Returns

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

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
bool	True if there is a hit, false otherwise.

Type Parameters

Name	Description
T	Generic type parameter.

OverlapCapsule(float3, float3, float, 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.
float	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
bool	True if there is a hit, false otherwise.

OverlapCapsuleCustom<T>(float3, float3, float, 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.
float	radius	The radius.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

Type Parameters

Name	Description
T	Generic type parameter.

OverlapSphere(float3, float, 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.
float	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
bool	True if there is a hit, false otherwise.

OverlapSphereCustom<T>(float3, float, 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.
float	radius	The radius.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

Type Parameters

Name	Description
T	Generic type parameter.

Reset(int, int)

Resets this object.

Declaration

public void Reset(int numStaticBodies, int numDynamicBodies)

Parameters

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

ScheduleBuildBroadphaseJobs(ref PhysicsWorld, float, float3, ReadOnly, JobHandle, bool)

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.
float	timeStep	The time step.
float3	gravity	The gravity.
NativeReference<int>.ReadOnly	buildStaticTree	The build static tree.
JobHandle	inputDeps	The input deps.
bool	multiThreaded	(Optional) True if multi threaded.

Returns

Type	Description
JobHandle	A JobHandle.

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.

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.
bool	multiThreaded	(Optional) True if multi threaded.

Returns

Type	Description
SimulationJobHandles	The SimulationJobHandles.

ScheduleUpdateDynamicTree(ref PhysicsWorld, float, float3, JobHandle, bool)

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.
float	timeStep	The time step.
float3	gravity	The gravity.
JobHandle	inputDeps	The input deps.
bool	multiThreaded	(Optional) True if multi threaded.

Returns

Type	Description
JobHandle	A JobHandle.

ScheduleUpdateStaticTree(ref PhysicsWorld, ReadOnly, JobHandle, bool)

Schedule a set of jobs to update the static collision world.

Declaration

public JobHandle ScheduleUpdateStaticTree(ref PhysicsWorld world, NativeReference<int>.ReadOnly buildStaticTree, JobHandle inputDeps, bool multiThreaded = true)

Parameters

Type	Name	Description
PhysicsWorld	world	[in,out] The world.
NativeReference<int>.ReadOnly	buildStaticTree	The build static tree.
JobHandle	inputDeps	The input deps.
bool	multiThreaded	(Optional) True if multi threaded.

Returns

Type	Description
JobHandle	A JobHandle.

SphereCast(float3, float, float3, float, 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.
float	radius	The radius.
float3	direction	The direction.
float	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
bool	True if there is a hit, false otherwise.

SphereCast(float3, float, float3, float, 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.
float	radius	The radius.
float3	direction	The direction.
float	maxDistance	The maximum distance.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

SphereCastAll(float3, float, float3, float, 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.
float	radius	The radius.
float3	direction	The direction.
float	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
bool	True if there is a hit, false otherwise.

SphereCastCustom<T>(float3, float, float3, float, 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.
float	radius	The radius.
float3	direction	The direction.
float	maxDistance	The maximum distance.
T	collector	[in,out] The collector.
CollisionFilter	filter	Specifies the filter.
QueryInteraction	queryInteraction	(Optional) The query interaction.

Returns

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

Type Parameters

Name	Description
T	Generic type parameter.

UpdateBodyIndexMap()

Updates the body index map.

Declaration

public void UpdateBodyIndexMap()

UpdateDynamicTree(ref PhysicsWorld, float, 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.
float	timeStep	The time step.
float3	gravity	The gravity.

UpdateStaticTree(ref PhysicsWorld)

Rebuild the static collision world.

Declaration

public void UpdateStaticTree(ref PhysicsWorld world)

Parameters

Type	Name	Description
PhysicsWorld	world	[in,out] The world.

Implements

ICollidable

IAspectQueryable

IDisposable