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physics: Do proper validations when tranforming kinetic colliders.
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@freezy
freezy committed Dec 30, 2024
1 parent bd00276 commit b003eb8
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Showing 2 changed files with 42 additions and 27 deletions.
2 changes: 1 addition & 1 deletion VisualPinball.Unity/VisualPinball.Unity/Game/PhysicsEngine.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -247,7 +247,7 @@ private void Start()
_kinematicColliderLookups = kinematicColliders.CreateLookup(Allocator.Persistent);

// create identity kinematic colliders
kinematicColliders.TransformToIdentity(_kinematicTransforms.Ref);
kinematicColliders.TransformToIdentity(ref _kinematicTransforms.Ref);
_kinematicCollidersAtIdentity = new NativeColliders(ref kinematicColliders, Allocator.Persistent);

// create octree
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67 changes: 41 additions & 26 deletions VisualPinball.Unity/VisualPinball.Unity/Physics/Collider/ColliderReference.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ public void Dispose()

public ICollider this[int i] => LookupCollider(i);

public void TransformToIdentity(NativeParallelHashMap<int, float4x4> itemIdToTransformationMatrix)
public void TransformToIdentity(ref NativeParallelHashMap<int, float4x4> itemIdToTransformationMatrix)
{
using var enumerator = _itemIdToColliderIds.GetEnumerator();
while (enumerator.MoveNext()) {
Expand All @@ -105,62 +105,76 @@ public void TransformToIdentity(NativeParallelHashMap<int, float4x4> itemIdToTra
var matrix = itemIdToTransformationMatrix[itemId];
var lookup = Lookups[colliderId];
switch (lookup.Type) {

case ColliderType.Bumper:
case ColliderType.Circle:
ref var circleCollider = ref CircleColliders.GetElementAsRef(lookup.Index);
#if UNITY_EDITOR
if (circleCollider.Header.IsTransformed) {
circleCollider.Transform(CircleColliders[lookup.Index], math.inverse(matrix));
} else {
circleCollider.TransformAabb(math.inverse(matrix));
throw new InvalidOperationException("A transformed circle collider shouldn't have been added as a kinetic collider.");
}
#endif
circleCollider.TransformAabb(math.inverse(matrix));
break;

case ColliderType.Point:
ref var pointCollider = ref PointColliders.GetElementAsRef(lookup.Index);
if (pointCollider.Header.IsTransformed) {
pointCollider.Transform(PointColliders[lookup.Index], math.inverse(matrix));
} else {
pointCollider.TransformAabb(math.inverse(matrix));
#if UNITY_EDITOR
if (!pointCollider.Header.IsTransformed) {
throw new InvalidOperationException("Points are fully transformable, so they should always be transformed.");
}
#endif
pointCollider.Transform(PointColliders[lookup.Index], math.inverse(matrix));
break;

case ColliderType.Line3D:
ref var line3DCollider = ref Line3DColliders.GetElementAsRef(lookup.Index);
if (line3DCollider.Header.IsTransformed) {
line3DCollider.Transform(Line3DColliders[lookup.Index], math.inverse(matrix));
} else {
line3DCollider.TransformAabb(math.inverse(matrix));
#if UNITY_EDITOR
if (!line3DCollider.Header.IsTransformed) {
throw new InvalidOperationException("Line3D colliders are fully transformable, so they should always be transformed.");
}
#endif
line3DCollider.Transform(Line3DColliders[lookup.Index], math.inverse(matrix));
break;

case ColliderType.Triangle:
ref var triangleCollider = ref TriangleColliders.GetElementAsRef(lookup.Index);
if (triangleCollider.Header.IsTransformed) {
triangleCollider.Transform(TriangleColliders[lookup.Index], math.inverse(matrix));
} else {
triangleCollider.TransformAabb(math.inverse(matrix));
#if UNITY_EDITOR
if (!triangleCollider.Header.IsTransformed) {
throw new InvalidOperationException("Triangles are fully transformable, so they should always be transformed.");
}
#endif
triangleCollider.Transform(TriangleColliders[lookup.Index], math.inverse(matrix));
break;

case ColliderType.Spinner:
ref var spinnerCollider = ref SpinnerColliders.GetElementAsRef(lookup.Index);
#if UNITY_EDITOR
if (spinnerCollider.Header.IsTransformed) {
spinnerCollider.Transform(SpinnerColliders[lookup.Index], math.inverse(matrix));
} else {
spinnerCollider.TransformAabb(math.inverse(matrix));
throw new InvalidOperationException("A transformed spinner collider shouldn't have been added as a kinetic collider.");
}
#endif
spinnerCollider.TransformAabb(math.inverse(matrix));
break;

case ColliderType.Gate:
ref var gateCollider = ref GateColliders.GetElementAsRef(lookup.Index);
#if UNITY_EDITOR
if (gateCollider.Header.IsTransformed) {
gateCollider.Transform(GateColliders[lookup.Index], math.inverse(matrix));
} else {
gateCollider.TransformAabb(math.inverse(matrix));
throw new InvalidOperationException("A transformed gate collider shouldn't have been added as a kinetic collider.");
}
#endif
gateCollider.TransformAabb(math.inverse(matrix));
break;

case ColliderType.Flipper:
ref var flipperCollider = ref FlipperColliders.GetElementAsRef(lookup.Index);
#if UNITY_EDITOR
if (flipperCollider.Header.IsTransformed) {
flipperCollider.Transform(FlipperColliders[lookup.Index], math.inverse(matrix));
} else {
flipperCollider.TransformAabb(math.inverse(matrix));
throw new InvalidOperationException("A transformed flipper collider shouldn't have been added as a kinetic collider.");
}
#endif
flipperCollider.TransformAabb(math.inverse(matrix));
break;
}
}
Expand Down Expand Up @@ -188,7 +202,7 @@ private ICollider LookupCollider(int i)
case ColliderType.Triangle: return TriangleColliders.GetElementAsRef(lookup.Index);
case ColliderType.Plane: return PlaneColliders.GetElementAsRef(lookup.Index);
}
throw new ArgumentException($"Unknown lookup type.");
throw new ArgumentException("Unknown lookup type.");
}

#region Add
Expand Down Expand Up @@ -431,6 +445,7 @@ internal int Add(TriangleCollider collider, float4x4 matrix)

#endregion

// ReSharper disable once UnusedMember.Global
public ICollider[] ToArray()
{
var array = new ICollider[Lookups.Length];
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