Add Kinematic Colliders

VisualPinball.Unity/VisualPinball.Unity.Editor/VPT/Bumper/BumperColliderInspector.cs

@@ -28,6 +28,7 @@ public class BumperColliderInspector : ColliderInspector<BumperData, BumperCompo
 		private SerializedProperty _thresholdProperty;
 		private SerializedProperty _forceProperty;
 		private SerializedProperty _scatterProperty;
+		private SerializedProperty _isKinematicProperty;
 
 		protected override void OnEnable()
 		{
@@ -37,6 +38,7 @@ protected override void OnEnable()
 			_forceProperty = serializedObject.FindProperty(nameof(BumperColliderComponent.Force));
 			_scatterProperty = serializedObject.FindProperty(nameof(BumperColliderComponent.Scatter));
 			_hitEventProperty = serializedObject.FindProperty(nameof(BumperColliderComponent.HitEvent));
+			_isKinematicProperty = serializedObject.FindProperty(nameof(BumperColliderComponent._isKinematic));
 		}
 
 		public override void OnInspectorGUI()
@@ -47,6 +49,7 @@ public override void OnInspectorGUI()
 
 			BeginEditing();
 
+			PropertyField(_isKinematicProperty, "Movable");
 			PropertyField(_hitEventProperty, "Has Hit Event");
 			PropertyField(_forceProperty);
 			PropertyField(_thresholdProperty, "Hit Threshold");

VisualPinball.Unity/VisualPinball.Unity.Editor/VPT/Primitive/PrimitiveColliderInspector.cs

@@ -35,6 +35,7 @@ public class PrimitiveColliderInspector : ColliderInspector<PrimitiveData, Primi
 		private SerializedProperty _collisionReductionFactorProperty;
 		private SerializedProperty _overwritePhysicsProperty;
 		private SerializedProperty _physicsMaterialProperty;
+		private SerializedProperty _isKinematicProperty;
 
 		protected override void OnEnable()
 		{
@@ -50,6 +51,7 @@ protected override void OnEnable()
 			_elasticityFalloffProperty = serializedObject.FindProperty(nameof(PrimitiveColliderComponent.ElasticityFalloff));
 			_frictionProperty = serializedObject.FindProperty(nameof(PrimitiveColliderComponent.Friction));
 			_scatterProperty = serializedObject.FindProperty(nameof(PrimitiveColliderComponent.Scatter));
+			_isKinematicProperty = serializedObject.FindProperty(nameof(PrimitiveColliderComponent._isKinematic));
 		}
 
 		public override void OnInspectorGUI()
@@ -62,6 +64,7 @@ public override void OnInspectorGUI()
 
 			OnPreInspectorGUI();
 
+			PropertyField(_isKinematicProperty, "Movable");
 			PropertyField(_hitEventProperty, "Has Hit Event");
 			PropertyField(_thresholdProperty, "Hit Threshold");
 			PropertyField(_collisionReductionFactorProperty, "Reduce Polygons By");

VisualPinball.Unity/VisualPinball.Unity/Extensions/MathExtensions.cs

@@ -58,6 +58,15 @@ public static void RotationAroundAxis(this float3x3 m, float3 axis, float rSin,
 			m.c2.z = axis.z * axis.z + rCos * (1.0f - axis.z * axis.z);
 		}
 
+		public static float3 GetScale(this float4x4 m)
+		{
+			return new float3(
+				math.length(new float3(m.c0.x, m.c1.x, m.c2.x)),
+				math.length(new float3(m.c0.y, m.c1.y, m.c2.y)),
+				math.length(new float3(m.c0.z, m.c1.z, m.c2.z))
+			);
+		}
+
 		public static Vertex3D ToVertex3D(this Vector3 vector)
 		{
 			return new Vertex3D(vector.x, vector.y, vector.z);

VisualPinball.Unity/VisualPinball.Unity/Game/PhysicsCycle.cs

@@ -46,6 +46,10 @@ internal void Simulate(ref PhysicsState state, in AABB playfieldBounds, ref Nati
 			// it's okay to have this code outside of the inner loop, as the ball hitrects already include the maximum distance they can travel in that timespan
 			var ballOctree = PhysicsDynamicBroadPhase.CreateOctree(ref state.Balls, in playfieldBounds);
 
+			// create octree of kinematic-to-ball collision
+			PhysicsKinematicBroadPhase.TransformColliders(ref state);
+			var kineticOctree = PhysicsKinematicBroadPhase.CreateOctree(ref state.KinematicColliders, in playfieldBounds);
+
 			while (dTime > 0) {
 
 				var hitTime = dTime;       // begin time search from now ...  until delta ends
@@ -63,9 +67,21 @@ internal void Simulate(ref PhysicsState state, in AABB playfieldBounds, ref Nati
 							continue;
 						}
 
-						// hit testing
+						// init contacts and event
+						ball.CollisionEvent.ClearCollider(hitTime); // search upto current hit time
+
+						// hit testing (overlappingColliders is cleared in broad phase)
 						PhysicsStaticBroadPhase.FindOverlaps(in state.Octree, in ball, ref overlappingColliders);
-						PhysicsStaticNarrowPhase.FindNextCollision(hitTime, ref ball, ref overlappingColliders, ref _contacts, ref state);
+						PhysicsStaticNarrowPhase.FindNextCollision(ref state.Colliders, ref ball, ref overlappingColliders, ref _contacts, ref state);
+
+						PhysicsStaticBroadPhase.FindOverlaps(in kineticOctree, in ball, ref overlappingColliders);
+						PhysicsStaticNarrowPhase.FindNextCollision(ref state.KinematicColliders, ref ball, ref overlappingColliders, ref _contacts, ref state);
+
+						// no negative time allowed
+						if (ball.CollisionEvent.HitTime < 0) {
+							ball.CollisionEvent.ClearCollider();
+						}
+
 						PhysicsDynamicBroadPhase.FindOverlaps(in ballOctree, in ball, ref overlappingColliders, ref state.Balls);
 						PhysicsDynamicNarrowPhase.FindNextCollision(ref ball, ref overlappingColliders, ref _contacts, ref state);
 
@@ -87,31 +103,31 @@ internal void Simulate(ref PhysicsState state, in AABB playfieldBounds, ref Nati
 				using (var enumerator = state.FlipperStates.GetEnumerator()) {
 					while (enumerator.MoveNext()) {
 						ref var flipperState = ref enumerator.Current.Value;
-						FlipperDisplacementPhysics.UpdateDisplacement(flipperState.ItemId, ref flipperState.Movement,
+						FlipperDisplacementPhysics.UpdateDisplacement(enumerator.Current.Key, ref flipperState.Movement,
 							ref flipperState.Tricks, in flipperState.Static, hitTime, ref state.EventQueue);
 					}
 				}
 				// gates
 				using (var enumerator = state.GateStates.GetEnumerator()) {
 					while (enumerator.MoveNext()) {
 						ref var gateState = ref enumerator.Current.Value;
-						GateDisplacementPhysics.UpdateDisplacement(gateState.ItemId, ref gateState.Movement, in gateState.Static,
+						GateDisplacementPhysics.UpdateDisplacement(enumerator.Current.Key, ref gateState.Movement, in gateState.Static,
 							hitTime, ref state.EventQueue);
 					}
 				}
 				// plunger
 				using (var enumerator = state.PlungerStates.GetEnumerator()) {
 					while (enumerator.MoveNext()) {
 						ref var plungerState = ref enumerator.Current.Value;
-						PlungerDisplacementPhysics.UpdateDisplacement(plungerState.ItemId, ref plungerState.Movement, ref plungerState.Collider,
+						PlungerDisplacementPhysics.UpdateDisplacement(enumerator.Current.Key, ref plungerState.Movement, ref plungerState.Collider,
 							in plungerState.Static, hitTime, ref state.EventQueue);
 					}
 				}
 				// spinners
 				using (var enumerator = state.SpinnerStates.GetEnumerator()) {
 					while (enumerator.MoveNext()) {
 						ref var spinnerState = ref enumerator.Current.Value;
-						SpinnerDisplacementPhysics.UpdateDisplacement(spinnerState.ItemId, ref spinnerState.Movement, in spinnerState.Static,
+						SpinnerDisplacementPhysics.UpdateDisplacement(enumerator.Current.Key, ref spinnerState.Movement, in spinnerState.Static,
 							hitTime, ref state.EventQueue);
 					}
 				}
@@ -128,7 +144,7 @@ internal void Simulate(ref PhysicsState state, in AABB playfieldBounds, ref Nati
 						// dynamic collision
 						PhysicsDynamicCollision.Collide(hitTime, ref ball, ref state);
 
-						// static collision
+						// static & kinematic collision
 						PhysicsStaticCollision.Collide(hitTime, ref ball, ref state);
 					}
 				}

VisualPinball.Unity/VisualPinball.Unity/Game/PhysicsEngine.cs

@@ -45,6 +45,9 @@ public class PhysicsEngine : MonoBehaviour
 		[NonSerialized] private InsideOfs _insideOfs;
 		[NonSerialized] private NativeOctree<int> _octree;
 		[NonSerialized] private NativeColliders _colliders;
+		[NonSerialized] private NativeColliders _kinematicColliders;
+		[NonSerialized] private NativeColliders _kinematicCollidersAtIdentity;
+		[NonSerialized] private NativeParallelHashMap<int, NativeColliderIds> _kinematicColliderLookups;
 		[NonSerialized] private NativeArray<PhysicsEnv> _physicsEnv = new(1, Allocator.Persistent);
 		[NonSerialized] private NativeQueue<EventData> _eventQueue = new(Allocator.Persistent);
 
@@ -67,6 +70,8 @@ public class PhysicsEngine : MonoBehaviour
 		#region Transforms
 
 		[NonSerialized] private readonly Dictionary<int, Transform> _transforms = new();
+		[NonSerialized] private NativeParallelHashMap<int, float4x4> _kinematicTransforms = new(0, Allocator.Persistent);
+		[NonSerialized] private NativeParallelHashMap<int, float4x4> _updatedKinematicTransforms = new(0, Allocator.Persistent);
 		[NonSerialized] private readonly Dictionary<int, SkinnedMeshRenderer[]> _skinnedMeshRenderers = new();
 
 		#endregion
@@ -75,6 +80,8 @@ public class PhysicsEngine : MonoBehaviour
 		[NonSerialized] private readonly List<ScheduledAction> _scheduledActions = new();
 
 		[NonSerialized] private Player _player;
+		[NonSerialized] private IKinematicColliderComponent[] _kinematicColliderComponents;
+
 
 		private static ulong NowUsec => (ulong)(Time.timeAsDouble * 1000000);
 
@@ -166,6 +173,7 @@ private void Awake()
 			_player = GetComponentInParent<Player>();
 			_insideOfs = new InsideOfs(Allocator.Persistent);
 			_physicsEnv[0] = new PhysicsEnv(NowUsec, GetComponentInChildren<PlayfieldComponent>(), GravityStrength);
+			_kinematicColliderComponents = GetComponentsInChildren<IKinematicColliderComponent>();
 		}
 
 		private void Start()
@@ -175,15 +183,27 @@ private void Start()
 			var colliderItems = GetComponentsInChildren<ICollidableComponent>();
 			Debug.Log($"Found {colliderItems.Length} collidable items.");
 			var colliders = new ColliderReference(Allocator.TempJob);
+			var kinematicColliders = new ColliderReference(Allocator.TempJob, true);
 			foreach (var colliderItem in colliderItems) {
 				if (!colliderItem.IsCollidable) {
 					_disabledCollisionItems.Add(colliderItem.ItemId);
 				}
-				colliderItem.GetColliders(_player, ref colliders, 0);
+				colliderItem.GetColliders(_player, ref colliders, ref kinematicColliders, 0);
 			}
 
 			// allocate colliders
 			_colliders = new NativeColliders(ref colliders, Allocator.Persistent);
+			_kinematicColliders = new NativeColliders(ref kinematicColliders, Allocator.Persistent);
+
+			// get kinetic collider matrices
+			foreach (var coll in _kinematicColliderComponents) {
+				_kinematicTransforms[coll.ItemId] = coll.TransformationMatrix;
+			}
+			_kinematicColliderLookups = kinematicColliders.CreateLookup(Allocator.Persistent);
+
+			// create identity kinematic colliders
+			kinematicColliders.TransformToIdentity(_kinematicTransforms);
+			_kinematicCollidersAtIdentity = new NativeColliders(ref kinematicColliders, Allocator.Persistent);
 
 			// create octree
 			var elapsedMs = sw.Elapsed.TotalMilliseconds;
@@ -209,6 +229,21 @@ private void Start()
 
 		private void Update()
 		{
+			// check for updated kinematic transforms
+			_updatedKinematicTransforms.Clear();
+			foreach (var coll in _kinematicColliderComponents) {
+				if (!coll.IsKinematic) { // kinematic enabled?
+					continue;
+				}
+				var lastTransformationMatrix = _kinematicTransforms[coll.ItemId];
+				var currTransformationMatrix = coll.TransformationMatrix;
+				if (lastTransformationMatrix.Equals(currTransformationMatrix)) {
+					continue;
+				}
+				_updatedKinematicTransforms.Add(coll.ItemId, currTransformationMatrix);
+				_kinematicTransforms[coll.ItemId] = currTransformationMatrix;
+			}
+
 			// prepare job
 			var events = _eventQueue.AsParallelWriter();
 			var updatePhysics = new PhysicsUpdateJob {
@@ -217,6 +252,10 @@ private void Update()
 				PhysicsEnv = _physicsEnv,
 				Octree = _octree,
 				Colliders = _colliders,
+				KinematicColliders = _kinematicColliders,
+				KinematicCollidersAtIdentity = _kinematicCollidersAtIdentity,
+				KinematicColliderLookups = _kinematicColliderLookups,
+				UpdatedKinematicTransforms = _updatedKinematicTransforms,
 				InsideOfs = _insideOfs,
 				Events = events,
 				Balls = _ballStates,
@@ -236,8 +275,9 @@ private void Update()
 			};
 
 			var env = _physicsEnv[0];
-			var state = new PhysicsState(ref env, ref _octree, ref _colliders, ref events, ref _insideOfs, ref _ballStates,
-				ref _bumperStates, ref _dropTargetStates, ref _flipperStates, ref _gateStates,
+			var state = new PhysicsState(ref env, ref _octree, ref _colliders, ref _kinematicColliders,
+				ref _kinematicCollidersAtIdentity, ref _updatedKinematicTransforms, ref _kinematicColliderLookups, ref events,
+				ref _insideOfs, ref _ballStates, ref _bumperStates, ref _dropTargetStates, ref _flipperStates, ref _gateStates,
 				ref _hitTargetStates, ref _kickerStates, ref _plungerStates, ref _spinnerStates,
 				ref _surfaceStates, ref _triggerStates, ref _disabledCollisionItems, ref _swapBallCollisionHandling);
 
@@ -402,6 +442,15 @@ private void OnDestroy()
 			}
 			_triggerStates.Dispose();
 			_disabledCollisionItems.Dispose();
+			_kinematicTransforms.Dispose();
+			_updatedKinematicTransforms.Dispose();
+			using (var enumerator = _kinematicColliderLookups.GetEnumerator()) {
+				while (enumerator.MoveNext()) {
+					enumerator.Current.Value.Dispose();
+				}
+			}
+			_kinematicColliderLookups.Dispose();
+
 		}
 
 		#endregion
@@ -417,5 +466,16 @@ public ScheduledAction(ulong scheduleAt, Action action)
 				Action = action;
 			}
 		}
+
+		public ICollider[] GetKinematicColliders(int itemId)
+		{
+			ref var colliderIds = ref _kinematicColliderLookups.GetValueByRef(itemId);
+			var colliders = new ICollider[colliderIds.Length];
+			for (var i = 0; i < colliderIds.Length; i++) {
+				var colliderId = colliderIds[i];
+				colliders[i] = _kinematicColliders[colliderId];
+			}
+			return colliders;
+		}
 	}
 }

VisualPinball.Unity/VisualPinball.Unity/Game/PhysicsKinematicBroadPhase.cs

@@ -0,0 +1,55 @@
+// Visual Pinball Engine
+// Copyright (C) 2023 freezy and VPE Team
+//
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+using NativeTrees;
+using Unity.Collections;
+using Unity.Profiling;
+using VisualPinball.Unity.Collections;
+
+namespace VisualPinball.Unity
+{
+	public static class PhysicsKinematicBroadPhase
+	{
+		private static readonly ProfilerMarker PerfMarkerBallOctree = new("CreateKinematicOctree");
+
+		internal static void TransformColliders(ref PhysicsState state)
+		{
+			using var enumerator = state.UpdatedKinematicTransforms.GetEnumerator();
+			while (enumerator.MoveNext()) {
+				ref var matrix = ref enumerator.Current.Value;
+				var itemId = enumerator.Current.Key;
+
+				ref var colliderLookups = ref state.KinematicColliderLookups.GetValueByRef(itemId);
+				for (var i = 0; i < colliderLookups.Length; i++) {
+					state.Transform(colliderLookups[i], matrix);
+				}
+			}
+		}
+
+		internal static NativeOctree<int> CreateOctree(ref NativeColliders kinematicColliders, in AABB playfieldBounds)
+		{
+			PerfMarkerBallOctree.Begin();
+			var octree = new NativeOctree<int>(playfieldBounds, 1024, 10, Allocator.TempJob);
+
+			for (var i = 0; i < kinematicColliders.Length; i++) {
+				octree.Insert(i, kinematicColliders.GetAabb(i));
+			}
+
+			PerfMarkerBallOctree.End();
+			return octree;
+		}
+	}
+}