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<name>System.Runtime.CompilerServices.Unsafe</name>
</assembly>
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<member name="T:System.Runtime.CompilerServices.Unsafe">
<summary>Contains generic, low-level functionality for manipulating pointers.</summary>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Add``1(``0@,System.Int32)">
<summary>Adds an element offset to the given reference.</summary>
<param name="source">The reference to add the offset to.</param>
<param name="elementOffset">The offset to add.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the addition of offset to pointer.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Add``1(``0@,System.IntPtr)">
<summary>Adds an element offset to the given reference.</summary>
<param name="source">The reference to add the offset to.</param>
<param name="elementOffset">The offset to add.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the addition of offset to pointer.</returns>
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<member name="M:System.Runtime.CompilerServices.Unsafe.AddByteOffset``1(``0@,System.IntPtr)">
<summary>Adds a byte offset to the given reference.</summary>
<param name="source">The reference to add the offset to.</param>
<param name="byteOffset">The offset to add.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the addition of byte offset to pointer.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.AreSame``1(``0@,``0@)">
<summary>Determines whether the specified references point to the same location.</summary>
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<param name="right">The second reference to compare.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>true if <paramref name="left">left</paramref> and <paramref name="right">right</paramref> point to the same location; otherwise, false.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.As``1(System.Object)">
<summary>Casts the given object to the specified type.</summary>
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<returns>The original object, casted to the given type.</returns>
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<member name="M:System.Runtime.CompilerServices.Unsafe.As``2(``0@)">
<summary>Reinterprets the given reference as a reference to a value of type <typeparamref name="TTo">TTo</typeparamref>.</summary>
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<typeparam name="TFrom">The type of reference to reinterpret..</typeparam>
<typeparam name="TTo">The desired type of the reference.</typeparam>
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<summary>Returns a pointer to the given by-ref parameter.</summary>
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<returns>A pointer to the given value.</returns>
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<summary>Reinterprets the given location as a reference to a value of type <typeparamref name="T">T</typeparamref>.</summary>
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<typeparam name="T">The type of the interpreted location.</typeparam>
<returns>A reference to a value of type <typeparamref name="T">T</typeparamref>.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.ByteOffset``1(``0@,``0@)">
<summary>Determines the byte offset from origin to target from the given references.</summary>
<param name="origin">The reference to origin.</param>
<param name="target">The reference to target.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>Byte offset from origin to target i.e. <paramref name="target">target</paramref> - <paramref name="origin">origin</paramref>.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Copy``1(System.Void*,``0@)">
<summary>Copies a value of type <typeparamref name="T">T</typeparamref> to the given location.</summary>
<param name="destination">The location to copy to.</param>
<param name="source">A reference to the value to copy.</param>
<typeparam name="T">The type of value to copy.</typeparam>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Copy``1(``0@,System.Void*)">
<summary>Copies a value of type <typeparamref name="T">T</typeparamref> to the given location.</summary>
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<param name="source">A pointer to the value to copy.</param>
<typeparam name="T">The type of value to copy.</typeparam>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlock(System.Byte@,System.Byte@,System.UInt32)">
<summary>Copies bytes from the source address to the destination address.</summary>
<param name="destination">The destination address to copy to.</param>
<param name="source">The source address to copy from.</param>
<param name="byteCount">The number of bytes to copy.</param>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlock(System.Void*,System.Void*,System.UInt32)">
<summary>Copies bytes from the source address to the destination address.</summary>
<param name="destination">The destination address to copy to.</param>
<param name="source">The source address to copy from.</param>
<param name="byteCount">The number of bytes to copy.</param>
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<param name="destination">The destination address to copy to.</param>
<param name="source">The source address to copy from.</param>
<param name="byteCount">The number of bytes to copy.</param>
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<member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlockUnaligned(System.Byte@,System.Byte@,System.UInt32)">
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<param name="destination">The destination address to copy to.</param>
<param name="source">The source address to copy from.</param>
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<member name="M:System.Runtime.CompilerServices.Unsafe.InitBlock(System.Byte@,System.Byte,System.UInt32)">
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<param name="startAddress">The address of the start of the memory block to initialize.</param>
<param name="value">The value to initialize the block to.</param>
<param name="byteCount">The number of bytes to initialize.</param>
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<member name="M:System.Runtime.CompilerServices.Unsafe.InitBlock(System.Void*,System.Byte,System.UInt32)">
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<param name="startAddress">The address of the start of the memory block to initialize.</param>
<param name="value">The value to initialize the block to.</param>
<param name="byteCount">The number of bytes to initialize.</param>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.InitBlockUnaligned(System.Byte@,System.Byte,System.UInt32)">
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<param name="startAddress">The address of the start of the memory block to initialize.</param>
<param name="value">The value to initialize the block to.</param>
<param name="byteCount">The number of bytes to initialize.</param>
</member>
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<summary>Initializes a block of memory at the given location with a given initial value
without assuming architecture dependent alignment of the address.</summary>
<param name="startAddress">The address of the start of the memory block to initialize.</param>
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<param name="source">The location to read from.</param>
<typeparam name="T">The type to read.</typeparam>
<returns>An object of type <typeparamref name="T">T</typeparamref> read from the given location.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.ReadUnaligned``1(System.Byte@)">
<summary>Reads a value of type <typeparamref name="T">T</typeparamref> from the given location
without assuming architecture dependent alignment of the addresses.</summary>
<param name="source">The location to read from.</param>
<typeparam name="T">The type to read.</typeparam>
<returns>An object of type <typeparamref name="T">T</typeparamref> read from the given location.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.ReadUnaligned``1(System.Void*)">
<summary>Reads a value of type <typeparamref name="T">T</typeparamref> from the given location
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<param name="source">The location to read from.</param>
<typeparam name="T">The type to read.</typeparam>
<returns>An object of type <typeparamref name="T">T</typeparamref> read from the given location.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.SizeOf``1">
<summary>Returns the size of an object of the given type parameter.</summary>
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<summary>Subtracts an element offset from the given reference.</summary>
<param name="source">The reference to subtract the offset from.</param>
<param name="elementOffset">The offset to subtract.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the subraction of offset from pointer.</returns>
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<member name="M:System.Runtime.CompilerServices.Unsafe.Subtract``1(``0@,System.IntPtr)">
<summary>Subtracts an element offset from the given reference.</summary>
<param name="source">The reference to subtract the offset from.</param>
<param name="elementOffset">The offset to subtract.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the subraction of offset from pointer.</returns>
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<param name="byteOffset"></param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the subraction of byte offset from pointer.</returns>
</member>
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<typeparam name="T">The type of value to write.</typeparam>
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<summary>Writes a value of type <typeparamref name="T">T</typeparamref> to the given location
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<summary>Writes a value of type <typeparamref name="T">T</typeparamref> to the given location
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<param name="destination">The location to write to.</param>
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<authors>Microsoft</authors>
<license type="expression">MIT</license>
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<description>Provides the System.Runtime.CompilerServices.Unsafe class, which provides generic, low-level functionality for manipulating pointers.
Commonly Used Types:
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.NET Runtime uses third-party libraries or other resources that may be
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/* zlib.h -- interface of the 'zlib' general purpose compression library
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--------------------------------------------------------
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License notice for RFC 3492
---------------------------
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A Universally Unique IDentifier (UUID) URN Namespace
----------------------------------------------------
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---------------------------------------------------
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License notice for Bob Jenkins
------------------------------
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------------------------------
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----------------------------------------
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------------------------------------------------------------
/******************************************************************************
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-----------------------------------------------------------
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------------------------------------------------
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--------------------------------
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License for fastmod (https://github.com/lemire/fastmod) and ibm-fpgen (https://github.com/nigeltao/parse-number-fxx-test-data)
--------------------------------------
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License notice for RapidJSON
----------------------------
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---------------------------------------
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License notice for ldap4net
---------------------------
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License notice for vectorized sorting code
------------------------------------------
MIT License
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License notice for musl
-----------------------
musl as a whole is licensed under the following standard MIT license:
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License notice for "Faster Unsigned Division by Constants"
------------------------------
Reference implementations of computing and using the "magic number" approach to dividing
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"round down" optimization per ridiculous_fish.
This is free and unencumbered software. Any copyright is dedicated to the Public Domain.
License notice for mimalloc
-----------------------------------
MIT License
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The above copyright notice and this permission notice shall be included in all
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

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<?xml version="1.0" encoding="utf-8"?><doc> <?xml version="1.0" encoding="utf-8"?>
<doc>
<assembly> <assembly>
<name>System.Runtime.CompilerServices.Unsafe</name> <name>System.Runtime.CompilerServices.Unsafe</name>
</assembly> </assembly>
@ -20,6 +21,20 @@
<typeparam name="T">The type of reference.</typeparam> <typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the addition of offset to pointer.</returns> <returns>A new reference that reflects the addition of offset to pointer.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Add``1(``0@,System.UIntPtr)">
<summary>Adds an element offset to the given reference.</summary>
<param name="source">The reference to add the offset to.</param>
<param name="elementOffset">The offset to add.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the addition of offset to pointer.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Add``1(System.Void*,System.Int32)">
<summary>Adds an element offset to the given void pointer.</summary>
<param name="source">The void pointer to add the offset to.</param>
<param name="elementOffset">The offset to add.</param>
<typeparam name="T">The type of void pointer.</typeparam>
<returns>A new void pointer that reflects the addition of offset to the specified pointer.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.AddByteOffset``1(``0@,System.IntPtr)"> <member name="M:System.Runtime.CompilerServices.Unsafe.AddByteOffset``1(``0@,System.IntPtr)">
<summary>Adds a byte offset to the given reference.</summary> <summary>Adds a byte offset to the given reference.</summary>
<param name="source">The reference to add the offset to.</param> <param name="source">The reference to add the offset to.</param>
@ -27,12 +42,20 @@
<typeparam name="T">The type of reference.</typeparam> <typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the addition of byte offset to pointer.</returns> <returns>A new reference that reflects the addition of byte offset to pointer.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.AddByteOffset``1(``0@,System.UIntPtr)">
<summary>Adds a byte offset to the given reference.</summary>
<param name="source">The reference to add the offset to.</param>
<param name="byteOffset">The offset to add.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the addition of byte offset to pointer.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.AreSame``1(``0@,``0@)"> <member name="M:System.Runtime.CompilerServices.Unsafe.AreSame``1(``0@,``0@)">
<summary>Determines whether the specified references point to the same location.</summary> <summary>Determines whether the specified references point to the same location.</summary>
<param name="left">The first reference to compare.</param> <param name="left">The first reference to compare.</param>
<param name="right">The second reference to compare.</param> <param name="right">The second reference to compare.</param>
<typeparam name="T">The type of reference.</typeparam> <typeparam name="T">The type of reference.</typeparam>
<returns>true if <paramref name="left">left</paramref> and <paramref name="right">right</paramref> point to the same location; otherwise, false.</returns> <returns>
<see langword="true" /> if <paramref name="left" /> and <paramref name="right" /> point to the same location; otherwise, <see langword="false" />.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.As``1(System.Object)"> <member name="M:System.Runtime.CompilerServices.Unsafe.As``1(System.Object)">
<summary>Casts the given object to the specified type.</summary> <summary>Casts the given object to the specified type.</summary>
@ -41,11 +64,11 @@
<returns>The original object, casted to the given type.</returns> <returns>The original object, casted to the given type.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.As``2(``0@)"> <member name="M:System.Runtime.CompilerServices.Unsafe.As``2(``0@)">
<summary>Reinterprets the given reference as a reference to a value of type <typeparamref name="TTo">TTo</typeparamref>.</summary> <summary>Reinterprets the given reference as a reference to a value of type <typeparamref name="TTo" />.</summary>
<param name="source">The reference to reinterpret.</param> <param name="source">The reference to reinterpret.</param>
<typeparam name="TFrom">The type of reference to reinterpret..</typeparam> <typeparam name="TFrom">The type of reference to reinterpret.</typeparam>
<typeparam name="TTo">The desired type of the reference.</typeparam> <typeparam name="TTo">The desired type of the reference.</typeparam>
<returns>A reference to a value of type <typeparamref name="TTo">TTo</typeparamref>.</returns> <returns>A reference to a value of type <typeparamref name="TTo" />.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.AsPointer``1(``0@)"> <member name="M:System.Runtime.CompilerServices.Unsafe.AsPointer``1(``0@)">
<summary>Returns a pointer to the given by-ref parameter.</summary> <summary>Returns a pointer to the given by-ref parameter.</summary>
@ -53,31 +76,37 @@
<typeparam name="T">The type of object.</typeparam> <typeparam name="T">The type of object.</typeparam>
<returns>A pointer to the given value.</returns> <returns>A pointer to the given value.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.AsRef``1(``0@)">
<summary>Reinterprets the given read-only reference as a reference.</summary>
<param name="source">The read-only reference to reinterpret.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A reference to a value of type <typeparamref name="T" />.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.AsRef``1(System.Void*)"> <member name="M:System.Runtime.CompilerServices.Unsafe.AsRef``1(System.Void*)">
<summary>Reinterprets the given location as a reference to a value of type <typeparamref name="T">T</typeparamref>.</summary> <summary>Reinterprets the given location as a reference to a value of type <typeparamref name="T" />.</summary>
<param name="source">The location of the value to reference.</param> <param name="source">The location of the value to reference.</param>
<typeparam name="T">The type of the interpreted location.</typeparam> <typeparam name="T">The type of the interpreted location.</typeparam>
<returns>A reference to a value of type <typeparamref name="T">T</typeparamref>.</returns> <returns>A reference to a value of type <typeparamref name="T" />.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.ByteOffset``1(``0@,``0@)"> <member name="M:System.Runtime.CompilerServices.Unsafe.ByteOffset``1(``0@,``0@)">
<summary>Determines the byte offset from origin to target from the given references.</summary> <summary>Determines the byte offset from origin to target from the given references.</summary>
<param name="origin">The reference to origin.</param> <param name="origin">The reference to origin.</param>
<param name="target">The reference to target.</param> <param name="target">The reference to target.</param>
<typeparam name="T">The type of reference.</typeparam> <typeparam name="T">The type of reference.</typeparam>
<returns>Byte offset from origin to target i.e. <paramref name="target">target</paramref> - <paramref name="origin">origin</paramref>.</returns> <returns>Byte offset from origin to target i.e. <paramref name="target" /> - <paramref name="origin" />.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Copy``1(System.Void*,``0@)">
<summary>Copies a value of type <typeparamref name="T">T</typeparamref> to the given location.</summary>
<param name="destination">The location to copy to.</param>
<param name="source">A reference to the value to copy.</param>
<typeparam name="T">The type of value to copy.</typeparam>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Copy``1(``0@,System.Void*)"> <member name="M:System.Runtime.CompilerServices.Unsafe.Copy``1(``0@,System.Void*)">
<summary>Copies a value of type <typeparamref name="T">T</typeparamref> to the given location.</summary> <summary>Copies a value of type <typeparamref name="T" /> to the given location.</summary>
<param name="destination">The location to copy to.</param> <param name="destination">The location to copy to.</param>
<param name="source">A pointer to the value to copy.</param> <param name="source">A pointer to the value to copy.</param>
<typeparam name="T">The type of value to copy.</typeparam> <typeparam name="T">The type of value to copy.</typeparam>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Copy``1(System.Void*,``0@)">
<summary>Copies a value of type <typeparamref name="T" /> to the given location.</summary>
<param name="destination">The location to copy to.</param>
<param name="source">A reference to the value to copy.</param>
<typeparam name="T">The type of value to copy.</typeparam>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlock(System.Byte@,System.Byte@,System.UInt32)"> <member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlock(System.Byte@,System.Byte@,System.UInt32)">
<summary>Copies bytes from the source address to the destination address.</summary> <summary>Copies bytes from the source address to the destination address.</summary>
<param name="destination">The destination address to copy to.</param> <param name="destination">The destination address to copy to.</param>
@ -90,16 +119,14 @@
<param name="source">The source address to copy from.</param> <param name="source">The source address to copy from.</param>
<param name="byteCount">The number of bytes to copy.</param> <param name="byteCount">The number of bytes to copy.</param>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlockUnaligned(System.Void*,System.Void*,System.UInt32)"> <member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlockUnaligned(System.Byte@,System.Byte@,System.UInt32)">
<summary>Copies bytes from the source address to the destination address <summary>Copies bytes from the source address to the destination address without assuming architecture dependent alignment of the addresses.</summary>
without assuming architecture dependent alignment of the addresses.</summary>
<param name="destination">The destination address to copy to.</param> <param name="destination">The destination address to copy to.</param>
<param name="source">The source address to copy from.</param> <param name="source">The source address to copy from.</param>
<param name="byteCount">The number of bytes to copy.</param> <param name="byteCount">The number of bytes to copy.</param>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlockUnaligned(System.Byte@,System.Byte@,System.UInt32)"> <member name="M:System.Runtime.CompilerServices.Unsafe.CopyBlockUnaligned(System.Void*,System.Void*,System.UInt32)">
<summary>Copies bytes from the source address to the destination address <summary>Copies bytes from the source address to the destination address without assuming architecture dependent alignment of the addresses.</summary>
without assuming architecture dependent alignment of the addresses.</summary>
<param name="destination">The destination address to copy to.</param> <param name="destination">The destination address to copy to.</param>
<param name="source">The source address to copy from.</param> <param name="source">The source address to copy from.</param>
<param name="byteCount">The number of bytes to copy.</param> <param name="byteCount">The number of bytes to copy.</param>
@ -117,81 +144,145 @@ without assuming architecture dependent alignment of the addresses.</summary>
<param name="byteCount">The number of bytes to initialize.</param> <param name="byteCount">The number of bytes to initialize.</param>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.InitBlockUnaligned(System.Byte@,System.Byte,System.UInt32)"> <member name="M:System.Runtime.CompilerServices.Unsafe.InitBlockUnaligned(System.Byte@,System.Byte,System.UInt32)">
<summary>Initializes a block of memory at the given location with a given initial value <summary>Initializes a block of memory at the given location with a given initial value without assuming architecture dependent alignment of the address.</summary>
without assuming architecture dependent alignment of the address.</summary>
<param name="startAddress">The address of the start of the memory block to initialize.</param> <param name="startAddress">The address of the start of the memory block to initialize.</param>
<param name="value">The value to initialize the block to.</param> <param name="value">The value to initialize the block to.</param>
<param name="byteCount">The number of bytes to initialize.</param> <param name="byteCount">The number of bytes to initialize.</param>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.InitBlockUnaligned(System.Void*,System.Byte,System.UInt32)"> <member name="M:System.Runtime.CompilerServices.Unsafe.InitBlockUnaligned(System.Void*,System.Byte,System.UInt32)">
<summary>Initializes a block of memory at the given location with a given initial value <summary>Initializes a block of memory at the given location with a given initial value without assuming architecture dependent alignment of the address.</summary>
without assuming architecture dependent alignment of the address.</summary>
<param name="startAddress">The address of the start of the memory block to initialize.</param> <param name="startAddress">The address of the start of the memory block to initialize.</param>
<param name="value">The value to initialize the block to.</param> <param name="value">The value to initialize the block to.</param>
<param name="byteCount">The number of bytes to initialize.</param> <param name="byteCount">The number of bytes to initialize.</param>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.IsAddressGreaterThan``1(``0@,``0@)">
<summary>Returns a value that indicates whether a specified reference is greater than another specified reference.</summary>
<param name="left">The first value to compare.</param>
<param name="right">The second value to compare.</param>
<typeparam name="T">The type of the reference.</typeparam>
<returns>
<see langword="true" /> if <paramref name="left" /> is greater than <paramref name="right" />; otherwise, <see langword="false" />.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.IsAddressLessThan``1(``0@,``0@)">
<summary>Returns a value that indicates whether a specified reference is less than another specified reference.</summary>
<param name="left">The first value to compare.</param>
<param name="right">The second value to compare.</param>
<typeparam name="T">The type of the reference.</typeparam>
<returns>
<see langword="true" /> if <paramref name="left" /> is less than <paramref name="right" />; otherwise, <see langword="false" />.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.IsNullRef``1(``0@)">
<summary>Determines if a given reference to a value of type <typeparamref name="T" /> is a null reference.</summary>
<param name="source">The reference to check.</param>
<typeparam name="T">The type of the reference.</typeparam>
<returns>
<see langword="true" /> if <paramref name="source" /> is a null reference; otherwise, <see langword="false" />.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.NullRef``1">
<summary>Returns a reference to a value of type <typeparamref name="T" /> that is a null reference.</summary>
<typeparam name="T">The type of the reference.</typeparam>
<returns>A reference to a value of type <typeparamref name="T" /> that is a null reference.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Read``1(System.Void*)"> <member name="M:System.Runtime.CompilerServices.Unsafe.Read``1(System.Void*)">
<summary>Reads a value of type <typeparamref name="T">T</typeparamref> from the given location.</summary> <summary>Reads a value of type <typeparamref name="T" /> from the given location.</summary>
<param name="source">The location to read from.</param> <param name="source">The location to read from.</param>
<typeparam name="T">The type to read.</typeparam> <typeparam name="T">The type to read.</typeparam>
<returns>An object of type <typeparamref name="T">T</typeparamref> read from the given location.</returns> <returns>An object of type <typeparamref name="T" /> read from the given location.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.ReadUnaligned``1(System.Byte@)"> <member name="M:System.Runtime.CompilerServices.Unsafe.ReadUnaligned``1(System.Byte@)">
<summary>Reads a value of type <typeparamref name="T">T</typeparamref> from the given location <summary>Reads a value of type <typeparamref name="T" /> from the given location without assuming architecture dependent alignment of the addresses.</summary>
without assuming architecture dependent alignment of the addresses.</summary>
<param name="source">The location to read from.</param> <param name="source">The location to read from.</param>
<typeparam name="T">The type to read.</typeparam> <typeparam name="T">The type to read.</typeparam>
<returns>An object of type <typeparamref name="T">T</typeparamref> read from the given location.</returns> <returns>An object of type <typeparamref name="T" /> read from the given location.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.ReadUnaligned``1(System.Void*)"> <member name="M:System.Runtime.CompilerServices.Unsafe.ReadUnaligned``1(System.Void*)">
<summary>Reads a value of type <typeparamref name="T">T</typeparamref> from the given location <summary>Reads a value of type <typeparamref name="T" /> from the given location without assuming architecture dependent alignment of the addresses.</summary>
without assuming architecture dependent alignment of the addresses.</summary>
<param name="source">The location to read from.</param> <param name="source">The location to read from.</param>
<typeparam name="T">The type to read.</typeparam> <typeparam name="T">The type to read.</typeparam>
<returns>An object of type <typeparamref name="T">T</typeparamref> read from the given location.</returns> <returns>An object of type <typeparamref name="T" /> read from the given location.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.SizeOf``1"> <member name="M:System.Runtime.CompilerServices.Unsafe.SizeOf``1">
<summary>Returns the size of an object of the given type parameter.</summary> <summary>Returns the size of an object of the given type parameter.</summary>
<typeparam name="T">The type of object whose size is retrieved.</typeparam> <typeparam name="T">The type of object whose size is retrieved.</typeparam>
<returns>The size of an object of type <typeparamref name="T">T</typeparamref>.</returns> <returns>The size of an object of type <typeparamref name="T" />.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.SkipInit``1(``0@)">
<summary>Bypasses definite assignment rules for a given value.</summary>
<param name="value">The uninitialized object.</param>
<typeparam name="T">The type of the uninitialized object.</typeparam>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Subtract``1(``0@,System.Int32)"> <member name="M:System.Runtime.CompilerServices.Unsafe.Subtract``1(``0@,System.Int32)">
<summary>Subtracts an element offset from the given reference.</summary> <summary>Subtracts an element offset from the given reference.</summary>
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<param name="elementOffset">The offset to subtract.</param> <param name="elementOffset">The offset to subtract.</param>
<typeparam name="T">The type of reference.</typeparam> <typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the subraction of offset from pointer.</returns> <returns>A new reference that reflects the subtraction of offset from pointer.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Subtract``1(``0@,System.IntPtr)"> <member name="M:System.Runtime.CompilerServices.Unsafe.Subtract``1(``0@,System.IntPtr)">
<summary>Subtracts an element offset from the given reference.</summary>
<param name="source">The reference to subtract the offset from.</param>
<param name="elementOffset">The offset to subtract.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the subtraction of offset from pointer.</returns>
</member>
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<summary>Subtracts an element offset from the given reference.</summary> <summary>Subtracts an element offset from the given reference.</summary>
<param name="source">The reference to subtract the offset from.</param> <param name="source">The reference to subtract the offset from.</param>
<param name="elementOffset">The offset to subtract.</param> <param name="elementOffset">The offset to subtract.</param>
<typeparam name="T">The type of reference.</typeparam> <typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the subraction of offset from pointer.</returns> <returns>A new reference that reflects the subraction of offset from pointer.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Subtract``1(System.Void*,System.Int32)">
<summary>Subtracts an element offset from the given void pointer.</summary>
<param name="source">The void pointer to subtract the offset from.</param>
<param name="elementOffset">The offset to subtract.</param>
<typeparam name="T">The type of the void pointer.</typeparam>
<returns>A new void pointer that reflects the subtraction of offset from the specified pointer.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.SubtractByteOffset``1(``0@,System.IntPtr)"> <member name="M:System.Runtime.CompilerServices.Unsafe.SubtractByteOffset``1(``0@,System.IntPtr)">
<summary>Subtracts a byte offset from the given reference.</summary> <summary>Subtracts a byte offset from the given reference.</summary>
<param name="source">The reference to subtract the offset from.</param> <param name="source">The reference to subtract the offset from.</param>
<param name="byteOffset"></param> <param name="byteOffset">The offset to subtract.</param>
<typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the subtraction of byte offset from pointer.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.SubtractByteOffset``1(``0@,System.UIntPtr)">
<summary>Subtracts a byte offset from the given reference.</summary>
<param name="source">The reference to subtract the offset from.</param>
<param name="byteOffset">The offset to subtract.</param>
<typeparam name="T">The type of reference.</typeparam> <typeparam name="T">The type of reference.</typeparam>
<returns>A new reference that reflects the subraction of byte offset from pointer.</returns> <returns>A new reference that reflects the subraction of byte offset from pointer.</returns>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Unbox``1(System.Object)">
<summary>Returns a <see langword="mutable ref" /> to a boxed value.</summary>
<param name="box">The value to unbox.</param>
<typeparam name="T">The type to be unboxed.</typeparam>
<exception cref="T:System.NullReferenceException">
<paramref name="box" /> is <see langword="null" />, and <typeparamref name="T" /> is a non-nullable value type.</exception>
<exception cref="T:System.InvalidCastException">
<paramref name="box" /> is not a boxed value type.
-or-
<paramref name="box" /> is not a boxed <typeparamref name="T" />.</exception>
<exception cref="T:System.TypeLoadException">
<typeparamref name="T" /> cannot be found.</exception>
<returns>A <see langword="mutable ref" /> to the boxed value <paramref name="box" />.</returns>
</member>
<member name="M:System.Runtime.CompilerServices.Unsafe.Write``1(System.Void*,``0)"> <member name="M:System.Runtime.CompilerServices.Unsafe.Write``1(System.Void*,``0)">
<summary>Writes a value of type <typeparamref name="T">T</typeparamref> to the given location.</summary> <summary>Writes a value of type <typeparamref name="T" /> to the given location.</summary>
<param name="destination">The location to write to.</param> <param name="destination">The location to write to.</param>
<param name="value">The value to write.</param> <param name="value">The value to write.</param>
<typeparam name="T">The type of value to write.</typeparam> <typeparam name="T">The type of value to write.</typeparam>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.WriteUnaligned``1(System.Byte@,``0)"> <member name="M:System.Runtime.CompilerServices.Unsafe.WriteUnaligned``1(System.Byte@,``0)">
<summary>Writes a value of type <typeparamref name="T">T</typeparamref> to the given location <summary>Writes a value of type <typeparamref name="T" /> to the given location without assuming architecture dependent alignment of the addresses.</summary>
without assuming architecture dependent alignment of the addresses.</summary>
<param name="destination">The location to write to.</param> <param name="destination">The location to write to.</param>
<param name="value">The value to write.</param> <param name="value">The value to write.</param>
<typeparam name="T">The type of value to write.</typeparam> <typeparam name="T">The type of value to write.</typeparam>
</member> </member>
<member name="M:System.Runtime.CompilerServices.Unsafe.WriteUnaligned``1(System.Void*,``0)"> <member name="M:System.Runtime.CompilerServices.Unsafe.WriteUnaligned``1(System.Void*,``0)">
<summary>Writes a value of type <typeparamref name="T">T</typeparamref> to the given location <summary>Writes a value of type <typeparamref name="T" /> to the given location without assuming architecture dependent alignment of the addresses.</summary>
without assuming architecture dependent alignment of the addresses.</summary>
<param name="destination">The location to write to.</param> <param name="destination">The location to write to.</param>
<param name="value">The value to write.</param> <param name="value">The value to write.</param>
<typeparam name="T">The type of value to write.</typeparam> <typeparam name="T">The type of value to write.</typeparam>

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fileFormatVersion: 2
guid: d2b94b429bbc44d6952a716c15b9e637
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@ -0,0 +1,74 @@
using System;
using System.Numerics;
using BepuPhysics;
using BepuPhysics.Collidables;
namespace Plugins.JNGame.BepuPhysics.Components
{
public abstract class BPhysicsBase : UnityEngine.MonoBehaviour
{
//世界索引
public int worldIndex = 0;
protected BodyHandle BodyId;
protected StaticHandle StaticBodyId;
//是否静态
public Boolean isStatic = false;
public JNBepuPhysics Physics
{
get
{
JNBepuPhysics.Physics.TryGetValue(worldIndex, out var value);
return value;
}
}
protected void AddDynamic<TShape>(TShape shape,BodyInertia shapeInertia) where TShape : unmanaged, IShape
{
var sphereIndex = this.Physics.Simulation.Shapes.Add(shape);
var transformPosition = transform.position;
var transformRotation = transform.rotation;
var spherePose = new RigidPose(new Vector3(transformPosition.x,transformPosition.y,transformPosition.z), new Quaternion(transformRotation.x,transformRotation.y,transformRotation.z,transformRotation.w));
BodyId = this.Physics.Simulation.Bodies.Add(BodyDescription.CreateDynamic(spherePose,
shapeInertia,
new CollidableDescription(sphereIndex, 0.01f),
new BodyActivityDescription(0.01f)));
}
protected void AddStatic<TShape>(TShape shape) where TShape : unmanaged, IShape
{
var transformPosition = transform.position;
var transformRotation = transform.rotation;
StaticBodyId = this.Physics.Simulation.Statics.Add(
new StaticDescription(new Vector3(transformPosition.x, transformPosition.y, transformPosition.z),
new Quaternion(transformRotation.x,transformRotation.y,transformRotation.z,transformRotation.w),
new CollidableDescription(this.Physics.Simulation.Shapes.Add(shape), 0.01f)));
}
public void OnPhysicsUpdate(float dt)
{
if (this.Physics == null) return;
if (this.isStatic) return;
this.Physics.Simulation.Bodies.GetDescription(this.BodyId,out var info);
//同步位置
var transform1 = transform;
transform1.position =
new UnityEngine.Vector3(info.Pose.Position.X, info.Pose.Position.Y, info.Pose.Position.Z);
//同步旋转
transform1.rotation =
new UnityEngine.Quaternion(info.Pose.Orientation.X, info.Pose.Orientation.Y, info.Pose.Position.Z,info.Pose.Orientation.W);
}
}
}

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guid: 3e204f22f96e497ab13682ad13267883
timeCreated: 1706687376

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@ -0,0 +1,37 @@
using BepuPhysics;
using BepuPhysics.Collidables;
using UnityEngine;
using NotImplementedException = System.NotImplementedException;
using Quaternion = System.Numerics.Quaternion;
using Vector3 = System.Numerics.Vector3;
namespace Plugins.JNGame.BepuPhysics.Components
{
public class BPhysicsBox : BPhysicsBase
{
private BodyHandle bodyId;
void Awake()
{
if (this.Physics == null) return;
Debug.Log("BPhysicsSphere");
this.Physics.Shapes.Add(this);
var localScale = transform.localScale;
var sphereBox = new Box(localScale.x,localScale.y,localScale.z);
if (this.isStatic)
{
this.AddStatic(sphereBox);
}
else
{
sphereBox.ComputeInertia(0.5f, out var inertia);
this.AddDynamic(sphereBox,inertia);
}
}
}
}

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timeCreated: 1706690344

View File

@ -0,0 +1,24 @@
using BepuPhysics.Collidables;
using UnityEngine;
namespace Plugins.JNGame.BepuPhysics.Components
{
public class BPhysicsSphere : BPhysicsBase
{
void Awake()
{
if (this.Physics == null) return;
Debug.Log("BPhysicsSphere");
this.Physics.Shapes.Add(this);
var sphereShape = new Sphere(transform.localScale.x / 2);
sphereShape.ComputeInertia(0.5f, out var sphereInertia);
this.AddDynamic(sphereShape,sphereInertia);
}
}
}

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fileFormatVersion: 2
guid: 98c11bfd0d424f98a6634403fca61c34
timeCreated: 1706686910

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@ -0,0 +1,8 @@
namespace Plugins.JNGame.BepuPhysics.Components
{
public enum BShape
{
/// <summary> Sphere shape type </summary>
Sphere = 1,
}
}

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@ -0,0 +1,3 @@
fileFormatVersion: 2
guid: 499b044e9991435ab5054521c2833c00
timeCreated: 1706686981

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@ -0,0 +1,46 @@
using System.Collections.Generic;
using BepuPhysics;
using BepuPhysics.Collidables;
using BepuUtilities;
using BepuUtilities.Memory;
using Plugins.JNGame.BepuPhysics.Components;
using Plugins.JNGame.BepuPhysics.Utilities;
using UnityEngine;
using Vector3 = System.Numerics.Vector3;
namespace Plugins.JNGame.BepuPhysics
{
public class JNBepuPhysics
{
public static Dictionary<int,JNBepuPhysics> Physics = new();
private UnityEngine.Vector3 _gravity = new (0,10,0);
public Simulation Simulation { get; protected set; }
public BufferPool BufferPool { get; private set; }
public List<BPhysicsBase> Shapes = new();
public JNBepuPhysics(int index = 0)
{
Debug.Log($"初始化物理引擎");
Physics[index] = this;
BufferPool = new BufferPool();
Simulation = Simulation.Create(BufferPool,new JNNarrowPhaseCallbacks(),new JNPoseIntegratorCallbacks(new Vector3(_gravity.x, -_gravity.y, _gravity.z)),new PositionFirstTimestepper());
}
//更新
public void OnUpdate(float dt)
{
Simulation.Timestep(dt);
Shapes.ForEach(shapes =>
{
shapes.OnPhysicsUpdate(dt);
});
}
}
}

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timeCreated: 1706683683

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fileFormatVersion: 2
guid: 7c60528953194e20af106b83b9e746de
timeCreated: 1706683642

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@ -0,0 +1,134 @@
using System;
using BepuPhysics;
using BepuPhysics.Collidables;
using BepuPhysics.CollisionDetection;
using BepuPhysics.Constraints;
using System.Runtime.CompilerServices;
using System.Numerics;
using BepuUtilities;
namespace Plugins.JNGame.BepuPhysics.Utilities
{
public struct JNPoseIntegratorCallbacks : IPoseIntegratorCallbacks
{
/// <summary>
/// Gravity to apply to dynamic bodies in the simulation.
/// </summary>
public Vector3 Gravity;
/// <summary>
/// Fraction of dynamic body linear velocity to remove per unit of time. Values range from 0 to 1. 0 is fully undamped, while values very close to 1 will remove most velocity.
/// </summary>
public float LinearDamping;
/// <summary>
/// Fraction of dynamic body angular velocity to remove per unit of time. Values range from 0 to 1. 0 is fully undamped, while values very close to 1 will remove most velocity.
/// </summary>
public float AngularDamping;
Vector3 gravityDt;
float linearDampingDt;
float angularDampingDt;
public AngularIntegrationMode AngularIntegrationMode => AngularIntegrationMode.Nonconserving;
public void Initialize(Simulation simulation)
{
//In this demo, we don't need to initialize anything.
//If you had a simulation with per body gravity stored in a CollidableProperty<T> or something similar, having the simulation provided in a callback can be helpful.
}
/// <summary>
/// Creates a new set of simple callbacks for the demos.
/// </summary>
/// <param name="gravity">Gravity to apply to dynamic bodies in the simulation.</param>
/// <param name="linearDamping">Fraction of dynamic body linear velocity to remove per unit of time. Values range from 0 to 1. 0 is fully undamped, while values very close to 1 will remove most velocity.</param>
/// <param name="angularDamping">Fraction of dynamic body angular velocity to remove per unit of time. Values range from 0 to 1. 0 is fully undamped, while values very close to 1 will remove most velocity.</param>
public JNPoseIntegratorCallbacks(Vector3 gravity, float linearDamping = .03f, float angularDamping = .03f) : this()
{
Gravity = gravity;
LinearDamping = linearDamping;
AngularDamping = angularDamping;
}
public void PrepareForIntegration(float dt)
{
//No reason to recalculate gravity * dt for every body; just cache it ahead of time.
gravityDt = Gravity * dt;
//Since these callbacks don't use per-body damping values, we can precalculate everything.
linearDampingDt = MathF.Pow(MathHelper.Clamp(1 - LinearDamping, 0, 1), dt);
angularDampingDt = MathF.Pow(MathHelper.Clamp(1 - AngularDamping, 0, 1), dt);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void IntegrateVelocity(int bodyIndex, in RigidPose pose, in BodyInertia localInertia, int workerIndex, ref BodyVelocity velocity)
{
//Note that we avoid accelerating kinematics. Kinematics are any body with an inverse mass of zero (so a mass of ~infinity). No force can move them.
if (localInertia.InverseMass > 0)
{
velocity.Linear = (velocity.Linear + gravityDt) * linearDampingDt;
velocity.Angular = velocity.Angular * angularDampingDt;
}
//Implementation sidenote: Why aren't kinematics all bundled together separately from dynamics to avoid this per-body condition?
//Because kinematics can have a velocity- that is what distinguishes them from a static object. The solver must read velocities of all bodies involved in a constraint.
//Under ideal conditions, those bodies will be near in memory to increase the chances of a cache hit. If kinematics are separately bundled, the the number of cache
//misses necessarily increases. Slowing down the solver in order to speed up the pose integrator is a really, really bad trade, especially when the benefit is a few ALU ops.
//Note that you CAN technically modify the pose in IntegrateVelocity by directly accessing it through the Simulation.Bodies.ActiveSet.Poses, it just requires a little care and isn't directly exposed.
//If the PositionFirstTimestepper is being used, then the pose integrator has already integrated the pose.
//If the PositionLastTimestepper or SubsteppingTimestepper are in use, the pose has not yet been integrated.
//If your pose modification depends on the order of integration, you'll want to take this into account.
//This is also a handy spot to implement things like position dependent gravity or per-body damping.
}
}
public struct JNNarrowPhaseCallbacks : INarrowPhaseCallbacks
{
public SpringSettings ContactSpringiness;
public void Initialize(Simulation simulation)
{
//Use a default if the springiness value wasn't initialized.
if (ContactSpringiness.AngularFrequency == 0 && ContactSpringiness.TwiceDampingRatio == 0)
ContactSpringiness = new SpringSettings(30, 1);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool AllowContactGeneration(int workerIndex, CollidableReference a, CollidableReference b)
{
//While the engine won't even try creating pairs between statics at all, it will ask about kinematic-kinematic pairs.
//Those pairs cannot emit constraints since both involved bodies have infinite inertia. Since most of the demos don't need
//to collect information about kinematic-kinematic pairs, we'll require that at least one of the bodies needs to be dynamic.
return a.Mobility == CollidableMobility.Dynamic || b.Mobility == CollidableMobility.Dynamic;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool AllowContactGeneration(int workerIndex, CollidablePair pair, int childIndexA, int childIndexB)
{
return true;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool ConfigureContactManifold<TManifold>(int workerIndex, CollidablePair pair,
ref TManifold manifold, out PairMaterialProperties pairMaterial)
where TManifold : struct, IContactManifold<TManifold>
{
pairMaterial.FrictionCoefficient = 1f;
pairMaterial.MaximumRecoveryVelocity = 2f;
pairMaterial.SpringSettings = ContactSpringiness;
return true;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool ConfigureContactManifold(int workerIndex, CollidablePair pair, int childIndexA, int childIndexB,
ref ConvexContactManifold manifold)
{
return true;
}
public void Dispose()
{
}
}
}

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@ -80,7 +80,7 @@ namespace Plugins.JNGame.Sync.Frame
public override Task OnInit() public override Task OnInit()
{ {
Physics.simulationMode = SimulationMode.Script; Physics.autoSimulation = false;
Physics.autoSyncTransforms = false; Physics.autoSyncTransforms = false;
this.OnReset(); this.OnReset();
return Task.CompletedTask; return Task.CompletedTask;
@ -110,6 +110,7 @@ namespace Plugins.JNGame.Sync.Frame
this._nLocalRunFrame = 0; this._nLocalRunFrame = 0;
this.dtTotal = 0; this.dtTotal = 0;
this.dtInputTotal = 0; this.dtInputTotal = 0;
this._isRequestServerData = false;
Physics.SyncTransforms(); Physics.SyncTransforms();
EventDispatcher.Event.Dispatch(JNSyncFrameEvent.CREATE); EventDispatcher.Event.Dispatch(JNSyncFrameEvent.CREATE);

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@ -42,7 +42,7 @@ namespace Plugins.JNGame.Util
public async UniTask<T> Post<T,TA>(string url,TA data) public async UniTask<T> Post<T,TA>(string url,TA data)
{ {
var request = UnityWebRequest.PostWwwForm($"{this._config.BaseURL}/{url}",JsonConvert.SerializeObject(data)); var request = UnityWebRequest.Post($"{this._config.BaseURL}/{url}",JsonConvert.SerializeObject(data));
return JsonConvert.DeserializeObject<T>((await request.SendWebRequest()).downloadHandler.text); return JsonConvert.DeserializeObject<T>((await request.SendWebRequest()).downloadHandler.text);
} }

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using System.Runtime.CompilerServices;
[assembly: InternalsVisibleTo("Unity.Physics.Custom.EditModeTests")]

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@ -1,107 +0,0 @@
using System;
using Unity.Mathematics;
using UnityEditor;
using UnityEditor.IMGUI.Controls;
using UnityEngine;
namespace Unity.Physics.Editor
{
class BeveledBoxBoundsHandle : BoxBoundsHandle
{
public float bevelRadius
{
get => math.min(m_BevelRadius, math.cmin(GetSize()) * 0.5f);
set
{
if (!m_IsDragging)
m_BevelRadius = math.max(0f, value);
}
}
float m_BevelRadius = ConvexHullGenerationParameters.Default.BevelRadius;
bool m_IsDragging = false;
static PhysicsBoundsHandleUtility.Corner[] s_Corners = new PhysicsBoundsHandleUtility.Corner[8];
public new void DrawHandle()
{
int prevHotControl = GUIUtility.hotControl;
if (prevHotControl == 0)
m_IsDragging = false;
base.DrawHandle();
int currHotcontrol = GUIUtility.hotControl;
if (currHotcontrol != prevHotControl)
m_IsDragging = currHotcontrol != 0;
}
protected override void DrawWireframe()
{
if (this.bevelRadius <= 0f)
{
base.DrawWireframe();
return;
}
var cameraPosition = float3.zero;
var cameraForward = new float3 { z = 1f };
if (Camera.current != null)
{
cameraPosition = Camera.current.transform.position;
cameraForward = Camera.current.transform.forward;
}
var bounds = new Bounds(this.center, this.size);
bool isCameraInsideBox = Camera.current != null && bounds.Contains(Handles.inverseMatrix.MultiplyPoint(cameraPosition));
var bevelRadius = this.bevelRadius;
var origin = (float3)this.center;
var size = (float3)this.size;
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, 1f, 1f), bevelRadius, 0, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(-1f, 1f, 1f), bevelRadius, 0, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, 1f, 1f), bevelRadius, 1, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, -1f, 1f), bevelRadius, 1, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, 1f, 1f), bevelRadius, 2, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, 1f, -1f), bevelRadius, 2, axes, isCameraInsideBox);
var corner = 0.5f * size - new float3(1f) * bevelRadius;
var axisx = new float3(1f, 0f, 0f);
var axisy = new float3(0f, 1f, 0f);
var axisz = new float3(0f, 0f, 1f);
// Since the geometry is transformed by Handles.matrix during rendering, we transform the camera position
// by the inverse matrix so that the two-shaded wireframe will have the proper orientation.
var invMatrix = Handles.inverseMatrix;
cameraPosition = invMatrix.MultiplyPoint(cameraPosition);
cameraForward = invMatrix.MultiplyVector(cameraForward);
var cameraOrtho = Camera.current == null || Camera.current.orthographic;
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(-1f, 1f, -1f), quaternion.LookRotation(-axisz, axisy), cameraPosition, cameraForward, cameraOrtho, bevelRadius, out s_Corners[0]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(-1f, 1f, 1f), quaternion.LookRotation(-axisx, axisy), cameraPosition, cameraForward, cameraOrtho, bevelRadius, out s_Corners[1]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(1f, 1f, 1f), quaternion.LookRotation(axisz, axisy), cameraPosition, cameraForward, cameraOrtho, bevelRadius, out s_Corners[2]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(1f, 1f, -1f), quaternion.LookRotation(axisx, axisy), cameraPosition, cameraForward, cameraOrtho, bevelRadius, out s_Corners[3]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(-1f, -1f, -1f), quaternion.LookRotation(-axisx, -axisy), cameraPosition, cameraForward, cameraOrtho, bevelRadius, out s_Corners[4]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(-1f, -1f, 1f), quaternion.LookRotation(axisz, -axisy), cameraPosition, cameraForward, cameraOrtho, bevelRadius, out s_Corners[5]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(1f, -1f, 1f), quaternion.LookRotation(axisx, -axisy), cameraPosition, cameraForward, cameraOrtho, bevelRadius, out s_Corners[6]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(1f, -1f, -1f), quaternion.LookRotation(-axisz, -axisy), cameraPosition, cameraForward, cameraOrtho, bevelRadius, out s_Corners[7]);
for (int i = 0; i < s_Corners.Length; i++)
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[i], true);
// Draw the horizon edges between the corners
for (int upA = 3, upB = 0; upB < 4; upA = upB, upB++)
{
int dnA = upA + 4;
int dnB = upB + 4;
if (s_Corners[upA].splitAxis[0].z && s_Corners[upB].splitAxis[1].x) Handles.DrawLine(s_Corners[upA].points[0], s_Corners[upB].points[1]);
if (s_Corners[upA].splitAxis[1].z && s_Corners[upB].splitAxis[0].x) Handles.DrawLine(s_Corners[upA].points[1], s_Corners[upB].points[0]);
if (s_Corners[dnA].splitAxis[0].x && s_Corners[dnB].splitAxis[1].z) Handles.DrawLine(s_Corners[dnA].points[0], s_Corners[dnB].points[1]);
if (s_Corners[dnA].splitAxis[1].x && s_Corners[dnB].splitAxis[0].z) Handles.DrawLine(s_Corners[dnA].points[1], s_Corners[dnB].points[0]);
if (s_Corners[dnA].splitAxis[0].y && s_Corners[upA].splitAxis[1].y) Handles.DrawLine(s_Corners[dnA].points[0], s_Corners[upA].points[1]);
if (s_Corners[dnA].splitAxis[1].y && s_Corners[upA].splitAxis[0].y) Handles.DrawLine(s_Corners[dnA].points[1], s_Corners[upA].points[0]);
}
}
}
}

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@ -1,350 +0,0 @@
using System;
using Unity.Mathematics;
using UnityEditor;
using UnityEditor.IMGUI.Controls;
using UnityEngine;
namespace Unity.Physics.Editor
{
class BeveledCylinderBoundsHandle : PrimitiveBoundsHandle
{
public float bevelRadius
{
get => math.min(m_BevelRadius, math.cmin(GetSize()) * 0.5f);
set
{
if (!m_IsDragging)
m_BevelRadius = math.max(0f, value);
}
}
float m_BevelRadius = ConvexHullGenerationParameters.Default.BevelRadius;
bool m_IsDragging = false;
public float height
{
get => GetSize().z;
set
{
var size = GetSize();
size.z = math.max(0f, value);
SetSize(size);
}
}
public float radius
{
get
{
var size = (float3)GetSize();
var diameter = 0f;
// only consider size values on enabled axes
if (IsAxisEnabled(0)) diameter = math.max(diameter, math.abs(size.x));
else if (IsAxisEnabled(1)) diameter = math.max(diameter, math.abs(size.y));
return diameter * 0.5f;
}
set
{
var size = (float3)GetSize();
size.x = size.y = math.max(0f, value * 2.0f);
SetSize(size);
}
}
public int sideCount
{
get => m_SideCount;
set
{
if (value == m_SideCount)
return;
m_SideCount = value;
Array.Resize(ref m_TopPoints, m_SideCount * 2);
Array.Resize(ref m_BottomPoints, m_SideCount * 2);
Array.Resize(ref m_Corners, m_SideCount * 2);
}
}
int m_SideCount;
PhysicsBoundsHandleUtility.Corner[] m_Corners = Array.Empty<PhysicsBoundsHandleUtility.Corner>();
Vector3[] m_TopPoints = Array.Empty<Vector3>();
Vector3[] m_BottomPoints = Array.Empty<Vector3>();
public new void DrawHandle()
{
int prevHotControl = GUIUtility.hotControl;
if (prevHotControl == 0)
m_IsDragging = false;
base.DrawHandle();
int currHotcontrol = GUIUtility.hotControl;
if (currHotcontrol != prevHotControl)
m_IsDragging = currHotcontrol != 0;
}
protected override void DrawWireframe()
{
using (new Handles.DrawingScope(Handles.matrix))
{
var backfacedColor = PhysicsBoundsHandleUtility.GetStateColor(true);
var frontfacedColor = Handles.color;
bool isCameraInsideBox = false;
var radius = this.radius;
var bevelRadius = this.bevelRadius;
var halfHeight = new float3(0f, 0f, height * 0.5f);
var ctr = (float3)center;
var halfAngleStep = math.PI / m_SideCount;
var angleStep = 2f * halfAngleStep;
const float kHalfPI = (math.PI * 0.5f);
var bottom = ctr + halfHeight + new float3 { z = bevelRadius };
var top = ctr - halfHeight - new float3 { z = bevelRadius };
var tangent = new float3(1, 0, 0);
var binormal = new float3(0, 1, 0);
var topBackFaced = PhysicsBoundsHandleUtility.IsBackfaced(top, -tangent, binormal, axes, isCameraInsideBox);
var bottomBackFaced = PhysicsBoundsHandleUtility.IsBackfaced(bottom, tangent, binormal, axes, isCameraInsideBox);
var cameraCenter = float3.zero;
var cameraForward = new float3 { z = 1f };
if (Camera.current != null)
{
cameraCenter = Camera.current.transform.position;
cameraForward = Camera.current.transform.forward;
}
// Since the geometry is transformed by Handles.matrix during rendering, we transform the camera position
// by the inverse matrix so that the two-shaded wireframe will have the proper orientation.
var invMatrix = Handles.inverseMatrix;
cameraCenter = invMatrix.MultiplyPoint(cameraCenter);
cameraForward = invMatrix.MultiplyVector(cameraForward);
var cameraOrtho = Camera.current != null && Camera.current.orthographic;
var noSides = (radius - bevelRadius) < PhysicsBoundsHandleUtility.kDistanceEpsilon;
var up = new float3(0, 0, -1f);
var t = ((m_SideCount - 2) * angleStep);
var xyAngle0 = new float3(math.cos(t), math.sin(t), 0f);
t = (m_SideCount - 1) * angleStep;
var xyAngle1 = new float3(math.cos(t), math.sin(t), 0f);
var sideways1 = new float3(math.cos(t + kHalfPI - halfAngleStep), math.sin(t + kHalfPI - halfAngleStep), 0f);
var direction1 = new float3(math.cos(t + halfAngleStep), math.sin(t + halfAngleStep), 0f);
var bevelGreaterThanZero = bevelRadius > 0f;
var bevelLessThanCylinderRadius = bevelRadius < radius;
for (var i = 0; i < m_SideCount; ++i)
{
t = i * angleStep;
var xyAngle2 = new float3(math.cos(t), math.sin(t), 0f);
var sideways2 = new float3(math.cos(t + kHalfPI - halfAngleStep), math.sin(t + kHalfPI - halfAngleStep), 0f);
var direction2 = new float3(math.cos(t + halfAngleStep), math.sin(t + halfAngleStep), 0f);
var offset0 = xyAngle0 * (radius - bevelRadius);
var offset1 = xyAngle1 * (radius - bevelRadius);
var offset2 = xyAngle2 * (radius - bevelRadius);
var top1 = ctr + offset1 - (halfHeight - new float3 { z = bevelRadius });
var bottom1 = ctr + offset1 + (halfHeight - new float3 { z = bevelRadius });
var top2 = ctr + offset2 - (halfHeight - new float3 { z = bevelRadius });
var bottom2 = ctr + offset2 + (halfHeight - new float3 { z = bevelRadius });
var startOffset = direction1 * bevelRadius;
if (bevelGreaterThanZero)
{
var upOffset = up * bevelRadius;
// top/bottom caps
if (bevelLessThanCylinderRadius)
{
Handles.color = topBackFaced ? backfacedColor : frontfacedColor;
Handles.DrawLine(top1 + upOffset, top2 + upOffset);
Handles.color = bottomBackFaced ? backfacedColor : frontfacedColor;
Handles.DrawLine(bottom1 - upOffset, bottom2 - upOffset);
}
var currSideMidPoint = ctr + ((top1 + bottom1 + top2 + bottom2) * 0.25f) + startOffset;
var currSideBackFaced = PhysicsBoundsHandleUtility.IsBackfaced(currSideMidPoint, up, sideways2, axes, isCameraInsideBox);
Handles.color = currSideBackFaced ? backfacedColor : frontfacedColor;
if (!noSides)
{
// Square side of bevelled cylinder
Handles.DrawLine(top2 + startOffset, bottom2 + startOffset);
Handles.DrawLine(bottom2 + startOffset, bottom1 + startOffset);
Handles.DrawLine(bottom1 + startOffset, top1 + startOffset);
Handles.DrawLine(top1 + startOffset, top2 + startOffset);
}
else
{
// Square side of bevelled cylinder, when squashed to a single line
Handles.DrawLine(top2 + startOffset, bottom2 + startOffset);
}
}
else
{
var top0 = ctr + offset0 - (halfHeight - new float3 { z = bevelRadius });
var bottom0 = ctr + offset0 + (halfHeight - new float3 { z = bevelRadius });
var prevMidPoint = ctr + ((top0 + top1 + bottom0 + bottom1) * 0.25f) + startOffset;
var prevSideBackFaced = PhysicsBoundsHandleUtility.IsBackfaced(prevMidPoint, up, sideways1, axes, isCameraInsideBox);
var currMidPoint = ctr + ((top1 + top2 + bottom1 + bottom2) * 0.25f) + startOffset;
var currSideBackFaced = PhysicsBoundsHandleUtility.IsBackfaced(currMidPoint, up, sideways2, axes, isCameraInsideBox);
// Square side of bevelled cylinder
Handles.color = (currSideBackFaced && prevSideBackFaced) ? backfacedColor : frontfacedColor;
Handles.DrawLine(bottom1 + startOffset, top1 + startOffset);
Handles.color = (currSideBackFaced && topBackFaced) ? backfacedColor : frontfacedColor;
Handles.DrawLine(top1 + startOffset, top2 + startOffset);
Handles.color = (currSideBackFaced && bottomBackFaced) ? backfacedColor : frontfacedColor;
Handles.DrawLine(bottom2 + startOffset, bottom1 + startOffset);
}
if (bevelGreaterThanZero)
{
Handles.color = frontfacedColor;
var cornerIndex0 = i;
var cornerIndex1 = i + m_SideCount;
{
var orientation = quaternion.LookRotation(xyAngle2, up);
var cornerNormal = math.normalize(math.mul(orientation, new float3(0f, 1f, 1f)));
PhysicsBoundsHandleUtility.CalculateCornerHorizon(top2,
new float3x3(direction1, up, direction2),
cornerNormal, cameraCenter, cameraForward, cameraOrtho,
bevelRadius, out m_Corners[cornerIndex0]);
}
{
var orientation = quaternion.LookRotation(xyAngle2, -up);
var cornerNormal = math.normalize(math.mul(orientation, new float3(0f, 1f, 1f)));
PhysicsBoundsHandleUtility.CalculateCornerHorizon(bottom2,
new float3x3(direction2, -up, direction1),
cornerNormal, cameraCenter, cameraForward, cameraOrtho,
bevelRadius, out m_Corners[cornerIndex1]);
}
}
direction1 = direction2;
sideways1 = sideways2;
xyAngle0 = xyAngle1;
xyAngle1 = xyAngle2;
}
if (bevelGreaterThanZero)
{
Handles.color = frontfacedColor;
for (int a = m_SideCount - 1, b = 0; b < m_SideCount; a = b, ++b)
{
var up0 = a;
var dn0 = a + m_SideCount;
var up1 = b;
var dn1 = b + m_SideCount;
// Side horizon on vertical curved edge
if (m_Corners[up1].splitCount > 1 &&
m_Corners[dn1].splitCount > 1)
{
if ((m_Corners[up1].splitAxis[0].y || m_Corners[up1].splitAxis[1].y) &&
(m_Corners[dn1].splitAxis[0].y || m_Corners[dn1].splitAxis[1].y))
{
var point0 = m_Corners[up1].splitAxis[0].y ? m_Corners[up1].points[0] : m_Corners[up1].points[1];
var point1 = m_Corners[dn1].splitAxis[0].y ? m_Corners[dn1].points[0] : m_Corners[dn1].points[1];
Handles.DrawLine(point0, point1);
}
}
// Top horizon on horizontal curved edge
if (m_Corners[up0].splitCount > 1 &&
m_Corners[up1].splitCount > 1)
{
if ((m_Corners[up0].splitAxis[0].x || m_Corners[up0].splitAxis[1].x) &&
(m_Corners[up1].splitAxis[0].z || m_Corners[up1].splitAxis[1].z))
{
var point0 = m_Corners[up0].splitAxis[0].x ? m_Corners[up0].points[0] : m_Corners[up0].points[1];
var point1 = m_Corners[up1].splitAxis[0].z ? m_Corners[up1].points[0] : m_Corners[up1].points[1];
Handles.DrawLine(point0, point1);
}
}
// Bottom horizon on horizontal curved edge
if (m_Corners[dn0].splitCount > 1 &&
m_Corners[dn1].splitCount > 1)
{
if ((m_Corners[dn0].splitAxis[0].z || m_Corners[dn0].splitAxis[1].z) &&
(m_Corners[dn1].splitAxis[0].x || m_Corners[dn1].splitAxis[1].x))
{
var point0 = m_Corners[dn0].splitAxis[0].z ? m_Corners[dn0].points[0] : m_Corners[dn0].points[1];
var point1 = m_Corners[dn1].splitAxis[0].x ? m_Corners[dn1].points[0] : m_Corners[dn1].points[1];
Handles.DrawLine(point0, point1);
}
}
}
for (var i = 0; i < m_Corners.Length; ++i)
PhysicsBoundsHandleUtility.DrawCorner(m_Corners[i], new bool3(true, true, !noSides));
}
}
}
protected override Bounds OnHandleChanged(HandleDirection handle, Bounds boundsOnClick, Bounds newBounds)
{
const int k_DirectionX = 0;
const int k_DirectionY = 1;
const int k_DirectionZ = 2;
var changedAxis = k_DirectionX;
var otherRadiusAxis = k_DirectionY;
switch (handle)
{
case HandleDirection.NegativeY:
case HandleDirection.PositiveY:
changedAxis = k_DirectionY;
otherRadiusAxis = k_DirectionX;
break;
case HandleDirection.NegativeZ:
case HandleDirection.PositiveZ:
changedAxis = k_DirectionZ;
break;
}
var upperBound = newBounds.max;
var lowerBound = newBounds.min;
var convexDiameter = 2f * bevelRadius;
// ensure changed dimension cannot be made less than convex diameter
if (upperBound[changedAxis] - lowerBound[changedAxis] < convexDiameter)
{
switch (handle)
{
case HandleDirection.PositiveX:
case HandleDirection.PositiveY:
case HandleDirection.PositiveZ:
upperBound[changedAxis] = lowerBound[changedAxis] + convexDiameter;
break;
default:
lowerBound[changedAxis] = upperBound[changedAxis] - convexDiameter;
break;
}
}
// ensure radius changes uniformly
if (changedAxis != k_DirectionZ)
{
var rad = 0.5f * (upperBound[changedAxis] - lowerBound[changedAxis]);
lowerBound[otherRadiusAxis] = center[otherRadiusAxis] - rad;
upperBound[otherRadiusAxis] = center[otherRadiusAxis] + rad;
}
return new Bounds((upperBound + lowerBound) * 0.5f, upperBound - lowerBound);
}
}
}

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@ -1,343 +0,0 @@
using System;
using Unity.Mathematics;
using UnityEditor;
using UnityEngine;
using static UnityEditor.IMGUI.Controls.PrimitiveBoundsHandle;
namespace Unity.Physics.Editor
{
static class PhysicsBoundsHandleUtility
{
internal const float kBackfaceAlphaMultiplier = 0.2f;
const float kDegreeEpsilon = 0.001f;
public const float kDistanceEpsilon = 0.0001f;
public static bool IsBackfaced(float3 localPos, float3 localTangent, float3 localBinormal, Axes axes, bool isCameraInsideBox)
{
// if inside the box then ignore back facing alpha multiplier (otherwise all handles will look disabled)
if (isCameraInsideBox || axes != Axes.All)
return false;
// use tangent and binormal to calculate normal in case handle matrix is skewed
float3 worldTangent = math.normalize(Handles.matrix.MultiplyVector(localTangent));
float3 worldBinormal = math.normalize(Handles.matrix.MultiplyVector(localBinormal));
float3 worldDir = math.normalize(math.cross(worldTangent, worldBinormal));
// adjust color if handle is back facing
float cosV;
var currentCamera = Camera.current;
if (currentCamera != null && !currentCamera.orthographic)
{
float3 cameraPos = currentCamera.transform.position;
float3 worldPos = Handles.matrix.MultiplyPoint(localPos);
cosV = math.dot(math.normalize(cameraPos - worldPos), worldDir);
}
else
{
float3 cameraForward = currentCamera == null ? Vector3.forward : currentCamera.transform.forward;
cosV = math.dot(-cameraForward, worldDir);
}
return cosV < -0.0001f;
}
public static Color GetStateColor(bool isBackfaced)
{
float alphaMultiplier = isBackfaced ? kBackfaceAlphaMultiplier : 1f;
return Handles.color * new Color(1f, 1f, 1f, alphaMultiplier);
}
static void AdjustMidpointHandleColor(bool isBackfaced)
{
Handles.color = GetStateColor(isBackfaced);
}
static readonly Vector3[] s_FacePoints = new Vector3[8];
static readonly Vector3[] s_LinePoints = new Vector3[2];
static readonly int[] k_NextAxis = { 1, 2, 0 };
public static void DrawFace(float3 center, float3 size, float cornerRadius, int normalAxis, Axes axes, bool isCameraInsideBox)
{
// 0 = 0 1 2
// 1 = 1 2 0
// 2 = 2 0 1
int a = normalAxis;
int b = k_NextAxis[a];
int c = k_NextAxis[b];
cornerRadius = math.abs(cornerRadius);
size *= 0.5f;
var normal = new float3 { [a] = size[a] };
var ctr = center + normal;
size -= new float3(cornerRadius);
// check if our face is a point
if (math.abs(size[c]) < kDistanceEpsilon &&
math.abs(size[b]) < kDistanceEpsilon)
return;
Vector3[] points;
// check if our face is a line or not
if (math.abs(size[c]) >= kDistanceEpsilon &&
math.abs(size[b]) >= kDistanceEpsilon)
{
var i = 0;
s_FacePoints[i++] = ctr + new float3 { [b] = size[b], [c] = size[c] };
s_FacePoints[i++] = ctr + new float3 { [b] = -size[b], [c] = size[c] };
s_FacePoints[i++] = ctr + new float3 { [b] = -size[b], [c] = size[c] };
s_FacePoints[i++] = ctr + new float3 { [b] = -size[b], [c] = -size[c] };
s_FacePoints[i++] = ctr + new float3 { [b] = -size[b], [c] = -size[c] };
s_FacePoints[i++] = ctr + new float3 { [b] = size[b], [c] = -size[c] };
s_FacePoints[i++] = ctr + new float3 { [b] = size[b], [c] = -size[c] };
s_FacePoints[i++] = ctr + new float3 { [b] = size[b], [c] = size[c] };
points = s_FacePoints;
}
else if (math.abs(size[c]) >= kDistanceEpsilon)
{
var i = 0;
s_LinePoints[i++] = ctr + new float3 { [b] = size[b], [c] = size[c] };
s_LinePoints[i++] = ctr + new float3 { [b] = size[b], [c] = -size[c] };
points = s_LinePoints;
}
else
{
var i = 0;
s_LinePoints[i++] = ctr + new float3 { [c] = size[c], [b] = size[b] };
s_LinePoints[i++] = ctr + new float3 { [c] = size[c], [b] = -size[b] };
points = s_LinePoints;
}
float3 tangent, biNormal;
if (size[c] > 0)
{
tangent = math.cross(normal, math.normalizesafe(new float3 { [c] = size[c] }));
biNormal = math.cross(normal, tangent);
}
else
{
tangent = math.cross(normal, math.normalizesafe(new float3 { [b] = size[b] }));
biNormal = math.cross(normal, tangent);
}
using (new Handles.DrawingScope(Handles.color))
{
AdjustMidpointHandleColor(IsBackfaced(ctr, tangent, biNormal, axes, isCameraInsideBox));
Handles.DrawLines(points);
}
}
public struct Corner
{
public float3 angle;
public float3x2 intersections;
public float3x2 points;
public float3x3 axes;
public float3x3 normals;
public bool3x2 splitAxis;
public int splitCount;
public float3 position;
public float radius;
public bool isBackFaced;
public float3 cameraForward;
}
public static void CalculateCornerHorizon(float3 cornerPosition, quaternion orientation, float3 cameraCenter, float3 cameraForward, bool cameraOrtho, float radius, out Corner corner)
{
var axisx = new float3(1f, 0f, 0f);
var axisy = new float3(0f, 1f, 0f);
var axisz = new float3(0f, 0f, 1f);
// a vector pointing away from the center of the corner
var cornerNormal = math.normalize(math.mul(orientation, new float3(1f, 1f, 1f)));
var axes = math.mul(new float3x3(orientation), new float3x3(axisx, axisy, axisz));
CalculateCornerHorizon(cornerPosition,
axes,
cornerNormal,
cameraCenter, cameraForward, cameraOrtho,
radius, out corner);
}
public static void CalculateCornerHorizon(float3 cornerPosition, float3x3 axes, float3 cornerNormal, float3 cameraCenter, float3 cameraForward, bool cameraOrtho, float radius, out Corner corner)
{
var cameraToCenter = cornerPosition - cameraCenter; // vector from camera to center
var sqrRadius = radius * radius;
var sqrDistCameraToCenter = math.lengthsq(cameraToCenter);
var sqrOffset = (sqrRadius * sqrRadius / sqrDistCameraToCenter); // squared distance from actual center to drawn disc center
if (!cameraOrtho)
cameraForward = cameraToCenter;
var normals = new float3x3
{
c0 = math.normalize(math.cross(axes[1], axes[2])),
c1 = math.normalize(math.cross(axes[2], axes[0])),
c2 = math.normalize(math.cross(axes[0], axes[1]))
};
corner = new Corner
{
angle = new float3(
Vector3.Angle(axes[0], axes[1]),
Vector3.Angle(axes[1], axes[2]),
Vector3.Angle(axes[2], axes[0])
),
intersections = default,
points = default,
splitAxis = default,
axes = axes,
normals = normals,
position = cornerPosition,
radius = radius,
cameraForward = cameraForward,
isBackFaced = math.dot(cornerNormal, cameraForward) > 0,
splitCount = 0
};
if (math.abs(sqrDistCameraToCenter) <= sqrRadius)
return;
for (int n = 0, sign = -1; n < 2; n++, sign += 2)
{
for (int i = 0; i < 3; i++)
{
var axis1 = normals[i] * sign;
var axis2 = axes[(i + 1) % 3] * sign;
var axis3 = axes[(i + 2) % 3] * sign;
var Q = Vector3.Angle(cameraForward, axis1);
var f = math.tan(math.radians(90 - math.min(Q, 180 - Q)));
var g = sqrOffset + f * f * sqrOffset;
if (g >= sqrRadius)
continue;
var e = math.degrees(math.asin(math.sqrt(g) / radius));
var vectorToPointOnHorizon = Quaternion.AngleAxis(e, axis1) * math.normalize(math.cross(axis1, cameraForward));
vectorToPointOnHorizon = math.normalize(Vector3.ProjectOnPlane(vectorToPointOnHorizon, axis1));
var intersectionDirection = vectorToPointOnHorizon;
var angle1 = Vector3.SignedAngle(axis2, intersectionDirection, axis1);
var angle2 = Vector3.SignedAngle(axis3, intersectionDirection, axis1);
if (angle1 <= 0 || angle2 >= 0)
continue;
var point = corner.position + (float3)(intersectionDirection * radius);
if (corner.splitCount < 2)
{
corner.splitAxis[corner.splitCount][i] = true;
corner.intersections[corner.splitCount] = intersectionDirection;
corner.points[corner.splitCount] = point;
corner.splitCount++;
}
}
}
if (!math.any(corner.splitAxis[0]) &&
!math.any(corner.splitAxis[1]))
{
corner.splitCount = 0;
corner.splitAxis[0] = false;
corner.splitAxis[1] = false;
}
}
public static void DrawCorner(Corner corner, bool3 showAxis)
{
var color = Handles.color;
var axes = corner.axes;
var intersections = corner.intersections;
var normals = corner.normals;
var origin = corner.position;
var radius = corner.radius;
if (corner.splitCount <= 1)
{
AdjustMidpointHandleColor(corner.isBackFaced);
if (showAxis[0]) Handles.DrawWireArc(origin, normals[0], axes[1], corner.angle[1], radius);
if (showAxis[1]) Handles.DrawWireArc(origin, normals[1], axes[2], corner.angle[2], radius);
if (showAxis[2]) Handles.DrawWireArc(origin, normals[2], axes[0], corner.angle[0], radius);
}
else
{
var angleLength = Vector3.SignedAngle(Vector3.ProjectOnPlane(intersections[0], corner.cameraForward),
Vector3.ProjectOnPlane(intersections[1], corner.cameraForward), corner.cameraForward);
bool reversePolarity = angleLength < 0;
if (reversePolarity)
Handles.DrawWireArc(origin, corner.cameraForward, corner.points[1] - origin, -angleLength, radius);
else
Handles.DrawWireArc(origin, corner.cameraForward, corner.points[0] - origin, angleLength, radius);
var backfacedColor = GetStateColor(true);
var axesBackfaced = new bool3(math.length(intersections[0] - axes[0]) < kDistanceEpsilon || math.length(intersections[1] - axes[0]) < kDistanceEpsilon,
math.length(intersections[0] - axes[1]) < kDistanceEpsilon || math.length(intersections[1] - axes[1]) < kDistanceEpsilon,
math.length(intersections[0] - axes[2]) < kDistanceEpsilon || math.length(intersections[1] - axes[2]) < kDistanceEpsilon);
var color1 = reversePolarity ? color : backfacedColor;
var color2 = reversePolarity ? backfacedColor : color;
for (int A = 1, B = 2, C = 0; C < 3; A = B, B = C, C++)
{
if (corner.splitAxis[0][C] == corner.splitAxis[1][C])
{
if (!axesBackfaced[A]) { angleLength = Vector3.Angle(intersections[0], axes[A]); axesBackfaced[A] = (angleLength<kDegreeEpsilon || angleLength> corner.angle[C] - kDegreeEpsilon); }
if (!axesBackfaced[B]) { angleLength = Vector3.Angle(intersections[1], axes[A]); axesBackfaced[B] = (angleLength<kDegreeEpsilon || angleLength> corner.angle[C] - kDegreeEpsilon); }
}
else if (corner.splitAxis[0][C])
{
if (showAxis[C])
{
angleLength = Vector3.Angle(intersections[0], axes[A]);
Handles.color = color1; Handles.DrawWireArc(origin, normals[C], intersections[0], -angleLength, radius);
Handles.color = color2; Handles.DrawWireArc(origin, normals[C], intersections[0], corner.angle[A] - angleLength, radius);
}
axesBackfaced[A] = true;
}
else
//if (corner.splitAxis[1][C])
{
if (showAxis[C])
{
angleLength = Vector3.Angle(intersections[1], axes[A]);
Handles.color = color2; Handles.DrawWireArc(origin, normals[C], intersections[1], -angleLength, radius);
Handles.color = color1; Handles.DrawWireArc(origin, normals[C], intersections[1], corner.angle[A] - angleLength, radius);
}
axesBackfaced[B] = true;
}
}
// check for singularity
if (math.all(axesBackfaced))
axesBackfaced = corner.isBackFaced;
for (int A = 1, B = 2, C = 0; C < 3; A = B, B = C, C++)
{
if (!showAxis[C])
continue;
if (corner.splitAxis[0][C] == corner.splitAxis[1][C])
{
Handles.color = (axesBackfaced[B] && axesBackfaced[A]) ? color1 : color2;
Handles.DrawWireArc(origin, normals[C], axes[A], corner.angle[A], radius);
}
}
}
Handles.color = color;
}
}
}

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using System;
using Unity.Mathematics;
using UnityEditor;
using UnityEditor.IMGUI.Controls;
using UnityEngine;
namespace Unity.Physics.Editor
{
class PhysicsCapsuleBoundsHandle : CapsuleBoundsHandle
{
static PhysicsBoundsHandleUtility.Corner[] s_Corners = new PhysicsBoundsHandleUtility.Corner[8];
protected override void DrawWireframe()
{
if (this.radius <= 0f)
{
base.DrawWireframe();
return;
}
var cameraPos = default(float3);
var cameraFwd = new float3 { z = 1f };
var cameraOrtho = true;
if (Camera.current != null)
{
cameraPos = Camera.current.transform.position;
cameraFwd = Camera.current.transform.forward;
cameraOrtho = Camera.current.orthographic;
}
var size = new float3(this.radius * 2f, this.radius * 2f, height);
var radius = this.radius;
var origin = (float3)this.center;
var bounds = new Bounds(this.center, size);
// Since the geometry is transformed by Handles.matrix during rendering, we transform the camera position
// by the inverse matrix so that the two-shaded wireframe will have the proper orientation.
var invMatrix = Handles.inverseMatrix;
var cameraCenter = (float3)invMatrix.MultiplyPoint(cameraPos);
var cameraForward = (float3)invMatrix.MultiplyVector(cameraFwd);
bool isCameraInsideBox = Camera.current != null
&& bounds.Contains(invMatrix.MultiplyPoint(cameraPos));
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, 1f, 1f), radius, 0, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(-1f, 1f, 1f), radius, 0, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, 1f, 1f), radius, 1, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, -1f, 1f), radius, 1, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, 1f, 1f), radius, 2, axes, isCameraInsideBox);
PhysicsBoundsHandleUtility.DrawFace(origin, size * new float3(1f, 1f, -1f), radius, 2, axes, isCameraInsideBox);
var corner = 0.5f * size - new float3(1f) * radius;
var axisx = new float3(1f, 0f, 0f);
var axisy = new float3(0f, 1f, 0f);
var axisz = new float3(0f, 0f, 1f);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(-1f, 1f, -1f), quaternion.LookRotation(-axisz, axisy), cameraCenter, cameraForward, cameraOrtho, radius, out s_Corners[0]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(-1f, 1f, 1f), quaternion.LookRotation(-axisx, axisy), cameraCenter, cameraForward, cameraOrtho, radius, out s_Corners[1]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(1f, 1f, 1f), quaternion.LookRotation(axisz, axisy), cameraCenter, cameraForward, cameraOrtho, radius, out s_Corners[2]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(1f, 1f, -1f), quaternion.LookRotation(axisx, axisy), cameraCenter, cameraForward, cameraOrtho, radius, out s_Corners[3]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(-1f, -1f, -1f), quaternion.LookRotation(-axisx, -axisy), cameraCenter, cameraForward, cameraOrtho, radius, out s_Corners[4]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(-1f, -1f, 1f), quaternion.LookRotation(axisz, -axisy), cameraCenter, cameraForward, cameraOrtho, radius, out s_Corners[5]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(1f, -1f, 1f), quaternion.LookRotation(axisx, -axisy), cameraCenter, cameraForward, cameraOrtho, radius, out s_Corners[6]);
PhysicsBoundsHandleUtility.CalculateCornerHorizon(origin + corner * new float3(1f, -1f, -1f), quaternion.LookRotation(-axisz, -axisy), cameraCenter, cameraForward, cameraOrtho, radius, out s_Corners[7]);
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[0], new bool3(false, true, true));
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[3], new bool3(true, false, true));
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[4], new bool3(true, false, true));
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[7], new bool3(false, true, true));
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[1], new bool3(true, false, true));
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[2], new bool3(false, true, true));
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[5], new bool3(false, true, true));
PhysicsBoundsHandleUtility.DrawCorner(s_Corners[6], new bool3(true, false, true));
// Draw the horizon edges between the corners
for (int upA = 3, upB = 0; upB < 4; upA = upB, upB++)
{
int dnA = upA + 4;
int dnB = upB + 4;
if (s_Corners[upA].splitAxis[0].z && s_Corners[upB].splitAxis[1].x) Handles.DrawLine(s_Corners[upA].points[0], s_Corners[upB].points[1]);
if (s_Corners[upA].splitAxis[1].z && s_Corners[upB].splitAxis[0].x) Handles.DrawLine(s_Corners[upA].points[1], s_Corners[upB].points[0]);
if (s_Corners[dnA].splitAxis[0].x && s_Corners[dnB].splitAxis[1].z) Handles.DrawLine(s_Corners[dnA].points[0], s_Corners[dnB].points[1]);
if (s_Corners[dnA].splitAxis[1].x && s_Corners[dnB].splitAxis[0].z) Handles.DrawLine(s_Corners[dnA].points[1], s_Corners[dnB].points[0]);
if (s_Corners[dnA].splitAxis[0].y && s_Corners[upA].splitAxis[1].y) Handles.DrawLine(s_Corners[dnA].points[0], s_Corners[upA].points[1]);
if (s_Corners[dnA].splitAxis[1].y && s_Corners[upA].splitAxis[0].y) Handles.DrawLine(s_Corners[dnA].points[1], s_Corners[upA].points[0]);
}
}
}
}

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using System;
using Unity.Mathematics;
using UnityEditor;
using UnityEditor.IMGUI.Controls;
using UnityEngine;
namespace Unity.Physics.Editor
{
class PhysicsSphereBoundsHandle : SphereBoundsHandle
{
protected override void DrawWireframe()
{
bool x = IsAxisEnabled(Axes.X);
bool y = IsAxisEnabled(Axes.Y);
bool z = IsAxisEnabled(Axes.Z);
if (x && !y && !z)
Handles.DrawLine(Vector3.right * radius, Vector3.left * radius);
if (!x && y && !z)
Handles.DrawLine(Vector3.up * radius, Vector3.down * radius);
if (!x && !y && z)
Handles.DrawLine(Vector3.forward * radius, Vector3.back * radius);
const float kEpsilon = 0.000001F;
if (radius > 0)
{
var frontfacedColor = Handles.color;
var backfacedColor = Handles.color * new Color(1f, 1f, 1f, PhysicsBoundsHandleUtility.kBackfaceAlphaMultiplier);
var discVisible = new bool[]
{
y && z,
x && z,
x && y
};
var discOrientations = new float3[]
{
Vector3.right,
Vector3.up,
Vector3.forward
};
// Since the geometry is transformed by Handles.matrix during rendering, we transform the camera position
// by the inverse matrix so that the two-shaded wireframe will have the proper orientation.
var invMatrix = Handles.inverseMatrix;
var cameraCenter = Camera.current == null ? Vector3.zero : Camera.current.transform.position;
var cameraToCenter = center - invMatrix.MultiplyPoint(cameraCenter); // vector from camera to center
var sqrDistCameraToCenter = cameraToCenter.sqrMagnitude;
var sqrRadius = radius * radius; // squared radius
var isCameraOrthographic = Camera.current == null || Camera.current.orthographic;
var sqrOffset = isCameraOrthographic ? 0 : (sqrRadius * sqrRadius / sqrDistCameraToCenter); // squared distance from actual center to drawn disc center
var insideAmount = sqrOffset / sqrRadius;
if (insideAmount < 1)
{
if (math.abs(sqrDistCameraToCenter) >= kEpsilon)
{
using (new Handles.DrawingScope(frontfacedColor))
{
if (isCameraOrthographic)
{
var horizonRadius = radius;
var horizonCenter = center;
Handles.DrawWireDisc(horizonCenter, cameraToCenter, horizonRadius);
}
else
{
var horizonRadius = math.sqrt(sqrRadius - sqrOffset);
var horizonCenter = center - sqrRadius * cameraToCenter / sqrDistCameraToCenter;
Handles.DrawWireDisc(horizonCenter, cameraToCenter, horizonRadius);
}
}
var planeNormal = cameraToCenter.normalized;
for (int i = 0; i < 3; i++)
{
if (!discVisible[i])
continue;
var discOrientation = discOrientations[i];
var angleBetweenDiscAndNormal = math.acos(math.dot(discOrientation, planeNormal));
angleBetweenDiscAndNormal = (math.PI * 0.5f) - math.min(angleBetweenDiscAndNormal, math.PI - angleBetweenDiscAndNormal);
float f = math.tan(angleBetweenDiscAndNormal);
float g = math.sqrt(sqrOffset + f * f * sqrOffset) / radius;
if (g < 1)
{
var angleToHorizon = math.degrees(math.asin(g));
var discTangent = math.cross(discOrientation, planeNormal);
var vectorToPointOnHorizon = Quaternion.AngleAxis(angleToHorizon, discOrientation) * discTangent;
var horizonArcLength = (90 - angleToHorizon) * 2.0f;
using (new Handles.DrawingScope(frontfacedColor))
Handles.DrawWireArc(center, discOrientation, vectorToPointOnHorizon, horizonArcLength, radius);
using (new Handles.DrawingScope(backfacedColor))
Handles.DrawWireArc(center, discOrientation, vectorToPointOnHorizon, horizonArcLength - 360, radius);
}
else
{
using (new Handles.DrawingScope(backfacedColor))
Handles.DrawWireDisc(center, discOrientation, radius);
}
}
}
}
else
{
using (new Handles.DrawingScope(backfacedColor))
{
for (int i = 0; i < 3; i++)
{
var discOrientation = discOrientations[i];
Handles.DrawWireDisc(center, discOrientation, radius);
}
}
}
}
}
}
}

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@ -1,24 +0,0 @@
#if UNITY_EDITOR
using Unity.Physics.Authoring;
using UnityEditor;
using UnityEngine;
namespace Unity.Physics.Editor
{
[CustomEditor(typeof(BallAndSocketJoint))]
public class BallAndSocketEditor : UnityEditor.Editor
{
protected virtual void OnSceneGUI()
{
BallAndSocketJoint ballAndSocket = (BallAndSocketJoint)target;
EditorGUI.BeginChangeCheck();
EditorUtilities.EditPivot(ballAndSocket.worldFromA, ballAndSocket.worldFromB, ballAndSocket.AutoSetConnected,
ref ballAndSocket.PositionLocal, ref ballAndSocket.PositionInConnectedEntity, ballAndSocket);
}
}
}
#endif

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