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feat: [Physics] Adding margins to convex hull colliders (Issue1577) #2257

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merged 4 commits into from
May 22, 2024
Merged

feat: [Physics] Adding margins to convex hull colliders (Issue1577) #2257

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ff8b772
Added margin fields to ConvexHullCollider (#1577)
dloe May 20, 2024
90eb382
Merge branch 'stride3d:master' into Issue1577_AddingMarginsToConvexHu…
dloe May 20, 2024
f6a43f9
Added default for margin to be 0.04f
dloe May 22, 2024
c424e55
Merge branch 'stride3d:master' into Issue1577_AddingMarginsToConvexHu…
dloe May 22, 2024
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1 change: 1 addition & 0 deletions sources/engine/Stride.Assets/Physics/ColliderShapeAssetCompiler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,7 @@ from shape in Parameters.ColliderShapes
ConvexHullColliderShapeDesc convexHullDescClone = new ConvexHullColliderShapeDesc
{
Scaling = convexHullDesc.Scaling,
Margin = convexHullDesc.Margin,
LocalOffset = convexHullDesc.LocalOffset,
LocalRotation = convexHullDesc.LocalRotation,
Decomposition = convexHullDesc.Decomposition,
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6 changes: 6 additions & 0 deletions sources/engine/Stride.Physics/ColliderShape.cs
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Expand Up @@ -137,6 +137,12 @@ public virtual void UpdateDebugPrimitive(CommandList commandList, IDebugPrimitiv
{
}

public float Margin
{
get { return InternalShape.Margin; }
set { InternalShape.Margin = value; }
}

public Matrix DebugPrimitiveMatrix;

internal bool NeedsCustomCollisionCallback;
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10 changes: 10 additions & 0 deletions sources/engine/Stride.Physics/Data/ConvexHullColliderShapeDesc.cs
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Expand Up @@ -49,6 +49,13 @@ public class ConvexHullColliderShapeDesc : IAssetColliderShapeDesc
[DataMember(45)]
public Vector3 Scaling = Vector3.One;

/// <userdoc>
/// The Margin of the generated convex hull.
/// Default = 0.04f
/// </userdoc>
[DataMember(48)]
public float Margin { get; set; } = 0.04f;

/// <userdoc>
/// If this is not checked, the contained parameters are ignored and only a simple convex hull of the model will be generated.
/// </userdoc>
Expand Down Expand Up @@ -84,6 +91,7 @@ public ColliderShape CreateShape(IServiceRegistry services)
shape = new ConvexHullColliderShape(ConvexHulls[0][0], ConvexHullsIndices[0][0], Scaling)
{
NeedsCustomCollisionCallback = true,
Margin = Margin,
};

//shape.UpdateLocalTransformations();
Expand All @@ -107,6 +115,7 @@ public ColliderShape CreateShape(IServiceRegistry services)
if (indices.Count == 0) continue;

var subHull = new ConvexHullColliderShape(verts, indices, Scaling);
subHull.Margin = Margin;
//subHull.UpdateLocalTransformations();
subCompound.AddChildShape(subHull);
}
Expand Down Expand Up @@ -134,6 +143,7 @@ public ColliderShape CreateShape(IServiceRegistry services)
if (indices[0].Count == 0) continue;

var subHull = new ConvexHullColliderShape(verts[0], indices[0], Scaling);
subHull.Margin = Margin;
//subHull.UpdateLocalTransformations();
compound.AddChildShape(subHull);
}
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