├── .gitignore ├── .gitmodules ├── Assets ├── AnimatedQuickhull.meta ├── AnimatedQuickhull │ ├── AnimatedQuickhull2D.cs │ ├── AnimatedQuickhull2D.cs.meta │ ├── AnimatedQuickhull3D.cs │ └── AnimatedQuickhull3D.cs.meta ├── Demo.meta ├── Demo │ ├── Debug.mat │ ├── Debug.mat.meta │ ├── Demo.mat │ ├── Demo.mat.meta │ ├── Demo.unity │ ├── Demo.unity.meta │ ├── Demo2D_Aprox.cs │ ├── Demo2D_Aprox.cs.meta │ ├── Demo2D_Index.cs │ ├── Demo2D_Index.cs.meta │ ├── Demo3D_Aprox.cs │ ├── Demo3D_Aprox.cs.meta │ ├── Demo3D_Index.cs │ ├── Demo3D_Index.cs.meta │ ├── Models.meta │ └── Models │ │ ├── Brooklyn Uprock.meta │ │ ├── Brooklyn Uprock │ │ ├── Brooklyn Uprock.controller │ │ ├── Brooklyn Uprock.controller.meta │ │ ├── Brooklyn Uprock.fbx │ │ ├── Brooklyn Uprock.fbx.meta │ │ ├── Ch03_1001_Diffuse.png │ │ ├── Ch03_1001_Diffuse.png.meta │ │ ├── Ch03_1001_Glossiness.png │ │ ├── Ch03_1001_Glossiness.png.meta │ │ ├── Ch03_1001_Normal.png │ │ ├── Ch03_1001_Normal.png.meta │ │ ├── Ch03_1001_Specular.png │ │ ├── Ch03_1001_Specular.png.meta │ │ ├── Ch03_Body.mat │ │ └── Ch03_Body.mat.meta │ │ ├── Capoeria.meta │ │ └── Capoeria │ │ ├── Capeeira.controller │ │ ├── Capeeira.controller.meta │ │ ├── Capoeira.fbx │ │ ├── Capoeira.fbx.meta │ │ ├── Ch46_1001_Diffuse.png │ │ ├── Ch46_1001_Diffuse.png.meta │ │ ├── Ch46_1001_Glossiness.png │ │ ├── Ch46_1001_Glossiness.png.meta │ │ ├── Ch46_1001_Normal.png │ │ ├── Ch46_1001_Normal.png.meta │ │ ├── Ch46_1001_Specular.png │ │ ├── Ch46_1001_Specular.png.meta │ │ ├── Ch46_body.mat │ │ └── Ch46_body.mat.meta ├── IndexFinder.meta ├── IndexFinder │ ├── BindposeSample.cs │ ├── BindposeSample.cs.meta │ ├── BindposeSample.unity │ ├── BindposeSample.unity.meta │ ├── IndexFinder.unity │ ├── IndexFinder.unity.meta │ ├── RaycastGetIndices.cs │ ├── RaycastGetIndices.cs.meta │ ├── RaycastGetIndicesEditor.cs │ └── RaycastGetIndicesEditor.cs.meta ├── Packages.meta └── Packages │ └── unity-simplex-geometry.meta ├── LICENSE.md ├── Packages ├── manifest.json └── packages-lock.json ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── PackageManagerSettings.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset ├── UnityConnectSettings.asset ├── VFXManager.asset ├── VersionControlSettings.asset └── XRSettings.asset ├── README.md ├── Recordings ├── 2d.gif ├── 3d.gif ├── cap1.PNG ├── cap2.PNG └── collider.gif └── UserSettings ├── EditorUserSettings.asset └── Search.settings /.gitignore: -------------------------------------------------------------------------------- 1 | # This .gitignore file should be placed at the root of your Unity project directory 2 | # 3 | # Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore 4 | # 5 | /[Ll]ibrary/ 6 | /[Tt]emp/ 7 | /[Oo]bj/ 8 | /[Bb]uild/ 9 | /[Bb]uilds/ 10 | /[Ll]ogs/ 11 | /[Mm]emoryCaptures/ 12 | /[Cc]apture*/ 13 | /[Uu]serSettings/ 14 | 15 | # Never ignore Asset meta data 16 | !/[Aa]ssets/**/*.meta 17 | 18 | # Uncomment this line if you wish to ignore the asset store tools plugin 19 | # /[Aa]ssets/AssetStoreTools* 20 | 21 | # Autogenerated Jetbrains Rider plugin 22 | [Aa]ssets/Plugins/Editor/JetBrains* 23 | 24 | # Visual Studio cache directory 25 | .vs/ 26 | .vscode/ 27 | .vsconfig 28 | 29 | # Gradle cache directory 30 | .gradle/ 31 | 32 | # Autogenerated VS/MD/Consulo solution and project files 33 | ExportedObj/ 34 | .consulo/ 35 | *.csproj 36 | *.unityproj 37 | *.sln 38 | *.suo 39 | *.tmp 40 | *.user 41 | *.userprefs 42 | *.pidb 43 | *.booproj 44 | *.svd 45 | *.pdb 46 | *.mdb 47 | *.opendb 48 | *.VC.db 49 | 50 | # Unity3D generated meta files 51 | *.pidb.meta 52 | *.pdb.meta 53 | *.mdb.meta 54 | 55 | # Unity3D generated file on crash reports 56 | sysinfo.txt 57 | 58 | # Builds 59 | *.apk 60 | *.unitypackage 61 | 62 | # Crashlytics generated file 63 | crashlytics-build.properties 64 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "Assets/Packages/unity-simplex-geometry"] 2 | path = Assets/Packages/unity-simplex-geometry 3 | url = https://github.com/komietty/unity-simplex-geometry.git 4 | -------------------------------------------------------------------------------- /Assets/AnimatedQuickhull.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: cd391dce6bea0c44cb1256eb2888f993 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/AnimatedQuickhull/AnimatedQuickhull2D.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using System.Linq; 5 | using Unity.Mathematics; 6 | using static Unity.Mathematics.math; 7 | 8 | namespace kmty.geom.d2.animatedquickhull { 9 | using f2 = float2; 10 | using V2 = Vector2; 11 | using V3 = Vector3; 12 | 13 | public abstract class AnimatedQuickhull2D { 14 | public Transform[] bones { get; protected set; } 15 | public Convex convex { get; protected set; } 16 | public abstract void Execute(); 17 | } 18 | 19 | public class AnimatedQuickhull2DIndex: AnimatedQuickhull2D { 20 | protected IEnumerable vids; 21 | protected Mesh mesh; 22 | protected V3[] vrts; 23 | protected int[] tris; 24 | 25 | public AnimatedQuickhull2DIndex(SkinnedMeshRenderer skin, IEnumerable tids) { 26 | this.bones = skin.bones; 27 | this.mesh = skin.sharedMesh; 28 | this.vrts = mesh.vertices; 29 | this.tris = mesh.triangles; 30 | vids = tids.Select(tid => tris[tid * 3]); 31 | } 32 | 33 | public override void Execute() { 34 | var tgts = new List(); 35 | var mtxs = new float4x4[bones.Length]; 36 | for (var i = 0; i < bones.Length; i++) tgts.Add((V2)bones[i].position); 37 | for (int i = 0; i < mtxs.Length; i++) mtxs[i] = bones[i].localToWorldMatrix * mesh.bindposes[i]; 38 | foreach (var i in vids) { 39 | var w = mesh.boneWeights[i]; 40 | var m = mtxs[w.boneIndex0] * w.weight0 + 41 | mtxs[w.boneIndex1] * w.weight1 + 42 | mtxs[w.boneIndex2] * w.weight2 + 43 | mtxs[w.boneIndex3] * w.weight3; 44 | tgts.Add((V2)((Matrix4x4)m).MultiplyPoint3x4(vrts[i])); 45 | } 46 | convex = new Convex(tgts); 47 | convex.ExpandLoop(); 48 | } 49 | } 50 | 51 | public class AnimatedQuickhull2DAprox: AnimatedQuickhull2D { 52 | protected float[] distPerBone; 53 | protected float distanceThold; 54 | 55 | public AnimatedQuickhull2DAprox(SkinnedMeshRenderer skin, float weightThold = 0.3f, float distanceThold = 0.3f) { 56 | this.bones = skin.bones; 57 | this.distPerBone = new float[bones.Length]; 58 | this.distanceThold = distanceThold; 59 | var mesh = skin.sharedMesh; 60 | var vtcs = mesh.vertices; 61 | var bspv = mesh.GetBonesPerVertex(); 62 | var wgts = mesh.GetAllBoneWeights(); 63 | var bwid = 0; 64 | var bindposes = mesh.bindposes; 65 | 66 | for (var vi = 0; vi < vtcs.Length; vi++) { 67 | var bw = wgts[bwid]; 68 | if (bw.weight > weightThold) { 69 | var i = bw.boneIndex; 70 | var d1 = distPerBone[i]; 71 | var d2 = length(vtcs[vi] - (V3)(bindposes[i].inverse * new Vector4(0, 0, 0, 1))); 72 | if (d2 > d1) distPerBone[i] = d2; 73 | bwid += bspv[vi]; 74 | } 75 | } 76 | } 77 | 78 | public override void Execute() { 79 | var bps = new List(); 80 | for (var i = 0; i < bones.Length; i++) { 81 | var b = bones[i]; 82 | var d = distPerBone[i]; 83 | if (d > distanceThold) { 84 | bps.Add((V2)b.position + new V2(-d, -d)); 85 | bps.Add((V2)b.position + new V2(+d, -d)); 86 | bps.Add((V2)b.position + new V2(-d, +d)); 87 | bps.Add((V2)b.position + new V2(+d, +d)); 88 | } else { 89 | bps.Add((V2)b.position); 90 | } 91 | } 92 | convex = new Convex(bps); 93 | convex.ExpandLoop(); 94 | } 95 | } 96 | } 97 | -------------------------------------------------------------------------------- /Assets/AnimatedQuickhull/AnimatedQuickhull2D.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0cb5c82039178f445818fc01c4212d26 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/AnimatedQuickhull/AnimatedQuickhull3D.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using System.Linq; 5 | using Unity.Mathematics; 6 | using static Unity.Mathematics.math; 7 | 8 | namespace kmty.geom.d3.animatedquickhull { 9 | using f3 = float3; 10 | using V3 = Vector3; 11 | 12 | public abstract class AnimatedQuickhull3D { 13 | public Transform[] bones { get; protected set; } 14 | public Convex convex { get; protected set; } 15 | public abstract void Execute(int itr); 16 | 17 | public Mesh CreateMesh() { 18 | var mesh = new Mesh(); 19 | var nodes = convex.nodes; 20 | var vs = new V3[nodes.Count * 3]; 21 | var ts = new int[nodes.Count * 3]; 22 | for(var i =0; i < nodes.Count; i++) { 23 | var j = i * 3; 24 | var n = nodes[i]; 25 | var v = cross(n.t.b - n.t.a, n.t.c - n.t.a); 26 | var f = dot(v, n.normal) < 0; 27 | vs[j + 0] = (f3)n.t.a; 28 | vs[j + 1] = f ? (f3)n.t.c : (f3)n.t.b; 29 | vs[j + 2] = f ? (f3)n.t.b : (f3)n.t.c; 30 | ts[j + 0] = j; 31 | ts[j + 1] = j + 1; 32 | ts[j + 2] = j + 2; 33 | } 34 | mesh.SetVertices(vs); 35 | mesh.SetTriangles(ts, 0); 36 | mesh.RecalculateNormals(); 37 | return mesh; 38 | } 39 | } 40 | 41 | public class AnimatedQuickhull3DIndex: AnimatedQuickhull3D { 42 | protected IEnumerable vids; 43 | protected Mesh mesh; 44 | protected V3[] vrts; 45 | protected int[] tris; 46 | 47 | public AnimatedQuickhull3DIndex(SkinnedMeshRenderer skin, IEnumerable tids) { 48 | this.bones = skin.bones; 49 | this.mesh = skin.sharedMesh; 50 | this.vrts = mesh.vertices; 51 | this.tris = mesh.triangles; 52 | vids = tids.Select(tid => tris[tid * 3]); 53 | } 54 | 55 | public override void Execute(int itr) { 56 | var tgts = new List(); 57 | var mtxs = new float4x4[bones.Length]; 58 | for (var i = 0; i < bones.Length; i++) tgts.Add(bones[i].position); 59 | for (int i = 0; i < mtxs.Length; i++) mtxs[i] = bones[i].localToWorldMatrix * mesh.bindposes[i]; 60 | foreach (var i in vids) { 61 | var w = mesh.boneWeights[i]; 62 | var m = mtxs[w.boneIndex0] * w.weight0 + 63 | mtxs[w.boneIndex1] * w.weight1 + 64 | mtxs[w.boneIndex2] * w.weight2 + 65 | mtxs[w.boneIndex3] * w.weight3; 66 | tgts.Add(((Matrix4x4)m).MultiplyPoint3x4(vrts[i])); 67 | } 68 | convex = new Convex(tgts); 69 | convex.ExpandLoop(itr); 70 | } 71 | } 72 | 73 | public class AnimatedQuickhull3DAprox: AnimatedQuickhull3D { 74 | public float[] distPerBone { get; } 75 | public float distanceThold; 76 | 77 | public AnimatedQuickhull3DAprox(SkinnedMeshRenderer skin, float weightThold, float distanceThold) { 78 | this.bones = skin.bones; 79 | this.distPerBone = new float[bones.Length]; 80 | this.distanceThold = distanceThold; 81 | var mesh = skin.sharedMesh; 82 | var vtcs = mesh.vertices; 83 | var bspv = mesh.GetBonesPerVertex(); 84 | var wgts = mesh.GetAllBoneWeights(); 85 | var bwid = 0; 86 | var bindposes = mesh.bindposes; 87 | for (var vi = 0; vi < vtcs.Length; vi++) { 88 | var bw = wgts[bwid]; 89 | if (bw.weight > weightThold) { 90 | var i = bw.boneIndex; 91 | var d1 = distPerBone[i]; 92 | var d2 = length(vtcs[vi] - (V3)(bindposes[i].inverse * new Vector4(0, 0, 0, 1))); 93 | if (d2 > d1) distPerBone[i] = d2; 94 | bwid += bspv[vi]; 95 | } 96 | } 97 | } 98 | 99 | public override void Execute(int itr) { 100 | var bps = new List(); 101 | for (var i = 0; i < bones.Length; i++) { 102 | var b = bones[i]; 103 | var d = distPerBone[i]; 104 | if (d > distanceThold) { 105 | bps.Add(b.position + new V3(-d, -d, -d)); 106 | bps.Add(b.position + new V3(+d, +d, +d)); 107 | bps.Add(b.position + new V3(+d, -d, -d)); 108 | bps.Add(b.position + new V3(-d, +d, -d)); 109 | bps.Add(b.position + new V3(-d, -d, +d)); 110 | bps.Add(b.position + new V3(-d, +d, +d)); 111 | bps.Add(b.position + new V3(+d, -d, +d)); 112 | bps.Add(b.position + new V3(+d, +d, -d)); 113 | } else { 114 | bps.Add(b.position); 115 | } 116 | } 117 | convex = new Convex(bps); 118 | convex.ExpandLoop(itr); 119 | } 120 | } 121 | } 122 | 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/Assets/Demo/Demo.mat.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bff5078e1173dd441bf9e52aefaad676 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 2100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Demo/Demo.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9fc0d4010bbf28b4594072e72b8655ab 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/Demo/Demo2D_Aprox.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using Unity.Mathematics; 4 | using UnityEngine; 5 | 6 | namespace kmty.geom.d2.animatedquickhull { 7 | using f2 = float2; 8 | 9 | public class Demo2D_Aprox : MonoBehaviour { 10 | [SerializeField, Range(0, 1)] protected float wgtThreshold = 0.3f; 11 | [SerializeField, Range(0, 1)] protected float dstThreshold = 0.3f; 12 | protected AnimatedQuickhull2D aqh; 13 | protected SkinnedMeshRenderer skin; 14 | protected Convex cvx; 15 | protected f2[] points; 16 | protected GUIStyle style; 17 | 18 | void Start() { 19 | skin = GetComponentInChildren(); 20 | aqh = new AnimatedQuickhull2DAprox(skin, wgtThreshold, dstThreshold); 21 | style = new GUIStyle(); 22 | style.fontSize = 20; 23 | } 24 | 25 | void Update() { 26 | aqh.Execute(); 27 | transform.rotation = Quaternion.AngleAxis(0.3f, Vector3.up) * transform.rotation; 28 | } 29 | 30 | void OnGUI() { 31 | GUI.Label(new Rect(10, 10, 300, 30), $"xmin:{aqh.convex.aabb.min.x}", style); 32 | GUI.Label(new Rect(10, 90, 300, 30), $"ymin:{aqh.convex.aabb.min.y}", style); 33 | GUI.Label(new Rect(10, 50, 300, 30), $"xmax:{aqh.convex.aabb.max.x}", style); 34 | GUI.Label(new Rect(10, 130, 300, 30), $"ymax:{aqh.convex.aabb.max.y}", style); 35 | } 36 | 37 | void OnRenderObject() { 38 | GL.PushMatrix(); 39 | GL.Color(Color.white); 40 | aqh.convex.Draw(); 41 | GL.PopMatrix(); 42 | } 43 | } 44 | } 45 | -------------------------------------------------------------------------------- /Assets/Demo/Demo2D_Aprox.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7f7aad26dbbea7240b2648245140934e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Demo/Demo2D_Index.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using Unity.Mathematics; 4 | using UnityEngine; 5 | 6 | namespace kmty.geom.d2.animatedquickhull { 7 | using f2 = float2; 8 | 9 | public class Demo2D_Index : MonoBehaviour { 10 | [SerializeField] protected Material dbg; 11 | [SerializeField, Range(0, 1)] protected float speed = 1; 12 | [SerializeField] int[] triangleIndices; 13 | protected AnimatedQuickhull2D aqh; 14 | protected SkinnedMeshRenderer skin; 15 | protected Animator anim; 16 | protected Convex cvx; 17 | protected f2[] points; 18 | protected GUIStyle style; 19 | 20 | void Start() { 21 | skin = GetComponentInChildren(); 22 | anim = GetComponent(); 23 | aqh = new AnimatedQuickhull2DIndex(skin, triangleIndices); 24 | style = new GUIStyle(); 25 | style.fontSize = 20; 26 | } 27 | 28 | void Update() { 29 | aqh.Execute(); 30 | anim.speed = speed; 31 | transform.rotation = Quaternion.AngleAxis(0.3f, Vector3.up) * transform.rotation; 32 | } 33 | 34 | void OnGUI() { 35 | GUI.Label(new Rect(10, 10, 300, 30), $"xmin:{aqh.convex.aabb.min.x}", style); 36 | GUI.Label(new Rect(10, 90, 300, 30), $"ymin:{aqh.convex.aabb.min.y}", style); 37 | GUI.Label(new Rect(10, 50, 300, 30), $"xmax:{aqh.convex.aabb.max.x}", style); 38 | GUI.Label(new Rect(10, 130, 300, 30), $"ymax:{aqh.convex.aabb.max.y}", style); 39 | } 40 | 41 | void OnRenderObject() { 42 | dbg.SetPass(0); 43 | GL.PushMatrix(); 44 | aqh.convex.Draw(); 45 | GL.PopMatrix(); 46 | } 47 | } 48 | } 49 | -------------------------------------------------------------------------------- /Assets/Demo/Demo2D_Index.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 2049050be3c58674f8c87bcad6d1f5e4 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Demo/Demo3D_Aprox.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | namespace kmty.geom.d3.animatedquickhull { 4 | using f3 = Unity.Mathematics.float3; 5 | using V3 = Vector3; 6 | 7 | public class Demo3D_Aprox: MonoBehaviour { 8 | [SerializeField] protected Material mat; 9 | [SerializeField] protected Material dbg; 10 | [SerializeField, Range(1, 20)] protected int itr = 15; 11 | [SerializeField, Range(0, 1)] protected float dstThreshold = 0.3f; 12 | [SerializeField, Range(0, 1)] protected float wgtThreshold = 0.3f; 13 | [SerializeField, Range(0, 1)] protected float speed = 1; 14 | protected AnimatedQuickhull3D aqh; 15 | protected Animator anim; 16 | protected SkinnedMeshRenderer skin; 17 | protected Convex cvx; 18 | 19 | void Start() { 20 | skin = GetComponentInChildren(); 21 | anim = GetComponent(); 22 | aqh = new AnimatedQuickhull3DAprox(skin, wgtThreshold, dstThreshold); 23 | } 24 | 25 | void Update() { 26 | transform.rotation = Quaternion.AngleAxis(0.3f, V3.up) * transform.rotation; 27 | anim.speed = speed; 28 | aqh.Execute(itr); 29 | Graphics.DrawMesh(aqh.CreateMesh(), V3.left * 1.5f, Quaternion.identity, mat, 0); 30 | } 31 | 32 | void OnRenderObject() { 33 | dbg.SetPass(0); 34 | GL.PushMatrix(); 35 | aqh.convex.Draw(); 36 | GL.PopMatrix(); 37 | } 38 | 39 | void OnDrawGizmos() { 40 | if (!Application.isPlaying) return; 41 | var nodes = aqh.convex.nodes; 42 | for (int i = 0; i < nodes.Count; i++) { 43 | var n = nodes[i]; 44 | Gizmos.DrawLine( 45 | (f3)n.t.GetGravityCenter(), 46 | (f3)n.t.GetGravityCenter() + (f3)n.normal * 0.2f 47 | ); 48 | } 49 | } 50 | } 51 | } 52 | -------------------------------------------------------------------------------- /Assets/Demo/Demo3D_Aprox.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: ba70d3844d1c8ab48882148be6c115ce 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Demo/Demo3D_Index.cs: -------------------------------------------------------------------------------- 1 | using UnityEngine; 2 | 3 | namespace kmty.geom.d3.animatedquickhull { 4 | using f3 = Unity.Mathematics.float3; 5 | using V3 = Vector3; 6 | 7 | public class Demo3D_Index: MonoBehaviour { 8 | [SerializeField] protected Material mat; 9 | [SerializeField] protected Material dbg; 10 | [SerializeField] protected bool createCollider; 11 | [SerializeField] protected bool showDebugMesh; 12 | [SerializeField, Range(1, 30)] protected int itr = 15; 13 | [SerializeField, Range(0, 1)] protected float speed = 1; 14 | [SerializeField] int[] triangleIndices; 15 | protected AnimatedQuickhull3D aqh; 16 | protected Animator anim; 17 | protected SkinnedMeshRenderer skin; 18 | protected Convex cvx; 19 | protected MeshCollider cld; 20 | 21 | void Start() { 22 | skin = GetComponentInChildren(); 23 | anim = GetComponent(); 24 | aqh = new AnimatedQuickhull3DIndex(skin, triangleIndices); 25 | if (createCollider) { cld = gameObject.AddComponent(); } 26 | } 27 | 28 | void Update() { 29 | //transform.rotation = Quaternion.AngleAxis(0.3f, V3.up) * transform.rotation; 30 | anim.speed = speed; 31 | aqh.Execute(itr); 32 | var m = aqh.CreateMesh(); 33 | if(cld != null) cld.sharedMesh = m; 34 | if (showDebugMesh) Graphics.DrawMesh(m, V3.zero, Quaternion.identity, mat, 0); 35 | } 36 | 37 | void OnRenderObject() { 38 | dbg.SetPass(0); 39 | GL.PushMatrix(); 40 | GL.Color(Color.green); 41 | aqh.convex.Draw(); 42 | GL.PopMatrix(); 43 | } 44 | 45 | void OnDrawGizmos() { 46 | if (!Application.isPlaying) return; 47 | var nodes = aqh.convex.nodes; 48 | for (int i = 0; i < 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/Assets/Demo/Models/Capoeria/Ch46_body.mat.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3bb169c3fad0f674c8b70a2d24b3408a 3 | NativeFormatImporter: 4 | externalObjects: {} 5 | mainObjectFileID: 2100000 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/IndexFinder.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4ba9aaef6b2971e4c876d2d65c293a6c 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/IndexFinder/BindposeSample.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using Unity.Mathematics; 5 | 6 | public class BindposeSample : MonoBehaviour { 7 | protected SkinnedMeshRenderer skin; 8 | protected Transform[] bones; 9 | protected Mesh mesh; 10 | [SerializeField] protected bool showTpose; 11 | [SerializeField] protected int tid; 12 | internal Vector3 vrt; 13 | internal Vector3 nrm; 14 | 15 | void Start() { 16 | skin = GetComponentInChildren(); 17 | this.bones = skin.bones; 18 | this.mesh = skin.sharedMesh; 19 | var vtcs = new List(); 20 | var tris = new List(); 21 | mesh.GetVertices(vtcs); 22 | mesh.GetTriangles(tris, 0); 23 | 24 | // get bindpose position 25 | if (showTpose) { 26 | var bindposes = mesh.bindposes; 27 | for (var i = 0; i < bones.Length; i++) { 28 | var p = bindposes[i].inverse * new Vector4(0, 0, 0, 1); 29 | var g = GameObject.CreatePrimitive(PrimitiveType.Sphere); 30 | g.transform.localScale *= 0.03f; 31 | g.transform.position = p; 32 | } 33 | } 34 | } 35 | 36 | void Update() { 37 | var vtcs = new List(); 38 | var nrms = new List(); 39 | var tris = new List(); 40 | 41 | mesh.GetNormals(nrms); 42 | mesh.GetVertices(vtcs); 43 | mesh.GetTriangles(tris, 0); 44 | 45 | int vid = tris[tid * 3]; 46 | var _vrt = vtcs[vid]; 47 | var _nrm = nrms[vid]; 48 | var _mtx = GetMatrixFromCompact(vid); 49 | //var _mtx = GetMatrixFromUniform(vid); 50 | 51 | vrt = _mtx.MultiplyPoint3x4(_vrt); 52 | nrm = _mtx.MultiplyVector(_nrm); 53 | } 54 | 55 | 56 | void OnDrawGizmos() { 57 | Gizmos.color = Color.green; 58 | Gizmos.DrawWireCube(vrt, 0.05f * Vector3.one); 59 | Gizmos.DrawRay(vrt, nrm); 60 | } 61 | 62 | Matrix4x4 GetMatrixFromCompact(int vid) { 63 | var bspv = mesh.GetBonesPerVertex(); 64 | var wgts = mesh.GetAllBoneWeights(); 65 | var bwid = 0; 66 | var bindposes = mesh.bindposes; 67 | var mtx = new float4x4(); 68 | for (var vi = 0; vi < mesh.vertexCount; vi++) { 69 | for (var i = 0; i < bspv[vi]; i++) { 70 | if (vi == vid) { 71 | var bw = wgts[bwid]; 72 | var bi = bw.boneIndex; 73 | var mx = 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/Assets/IndexFinder/IndexFinder.unity.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 37146f76e26d0fd4298c1fe1618a6c9f 3 | DefaultImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /Assets/IndexFinder/RaycastGetIndices.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class RaycastGetIndices : MonoBehaviour { 6 | public MeshFilter filt; 7 | public int tid = - 1; 8 | public List tids; 9 | public void OnClickMesh() { tids.Add(tid); } 10 | } 11 | -------------------------------------------------------------------------------- /Assets/IndexFinder/RaycastGetIndices.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 24dd4d5aad4496c45afb5a211eebbb24 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/IndexFinder/RaycastGetIndicesEditor.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEditor; 5 | 6 | [CustomEditor(typeof(RaycastGetIndices))] 7 | public class RaycastGetIndicesEditor : Editor { 8 | List vrts = new List(); 9 | List nrms = new List(); 10 | List tris = new List(); 11 | 12 | void OnSceneGUI() { 13 | var t = (RaycastGetIndices)target; 14 | 15 | var f = t.filt; 16 | if (f != null) { 17 | var m = f.sharedMesh; 18 | m.GetVertices(vrts); 19 | m.GetNormals(nrms); 20 | m.GetTriangles(tris, 0); 21 | } 22 | 23 | Handles.color = Color.red; 24 | foreach (var tid in t.tids) { 25 | var v1 = vrts[tris[tid * 3 + 0]]; 26 | var v2 = vrts[tris[tid * 3 + 1]]; 27 | var v3 = vrts[tris[tid * 3 + 2]]; 28 | var n1 = nrms[tris[tid * 3 + 0]]; 29 | var n2 = nrms[tris[tid * 3 + 1]]; 30 | var n3 = nrms[tris[tid * 3 + 2]]; 31 | Handles.DrawLines(new Vector3[] { 32 | v1 + n1 * 0.0f, 33 | v2 + n2 * 0.0f, 34 | v2 + n2 * 0.0f, 35 | v3 + n3 * 0.0f, 36 | v3 + n3 * 0.0f, 37 | v1 + n1 * 0.0f 38 | }); 39 | } 40 | 41 | var r = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition); 42 | if (!Physics.Raycast(r, out RaycastHit hit)) return; 43 | 44 | var c = (MeshCollider)hit.collider; 45 | if (c == null || c.sharedMesh == null) return; 46 | 47 | t.tid = hit.triangleIndex; 48 | 49 | 50 | 51 | var e = Event.current; 52 | var i = GUIUtility.GetControlID(FocusType.Passive); 53 | switch (e.GetTypeForControl(i)) { 54 | case EventType.MouseDown: 55 | GUIUtility.hotControl = i; 56 | if (e.button == 0) { t.OnClickMesh(); } 57 | e.Use(); 58 | break; 59 | } 60 | 61 | } 62 | } 63 | -------------------------------------------------------------------------------- /Assets/IndexFinder/RaycastGetIndicesEditor.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b4a09dfbd909a39469d7289323fb1df7 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Packages.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: b7c953a0d25eb05469240d3381550f51 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Packages/unity-simplex-geometry.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 425cbd038b70a8f4f91adbede1555b19 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2022 sakikomikado 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /Packages/manifest.json: -------------------------------------------------------------------------------- 1 | { 2 | "dependencies": { 3 | "com.unity.collab-proxy": "1.3.9", 4 | "com.unity.ide.rider": "3.0.5", 5 | "com.unity.ide.visualstudio": "2.0.7", 6 | "com.unity.ide.vscode": "1.2.3", 7 | "com.unity.mathematics": "1.2.1", 8 | "com.unity.test-framework": "1.1.24", 9 | "com.unity.textmeshpro": "3.0.4", 10 | "com.unity.timeline": "1.5.4", 11 | "com.unity.ugui": "1.0.0", 12 | "com.unity.visualscripting": "1.5.2", 13 | "com.unity.modules.ai": "1.0.0", 14 | "com.unity.modules.androidjni": "1.0.0", 15 | 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"com.unity.modules.unitywebrequestaudio": "1.0.0", 37 | "com.unity.modules.unitywebrequesttexture": "1.0.0", 38 | "com.unity.modules.unitywebrequestwww": "1.0.0", 39 | "com.unity.modules.vehicles": "1.0.0", 40 | "com.unity.modules.video": "1.0.0", 41 | "com.unity.modules.vr": "1.0.0", 42 | "com.unity.modules.wind": "1.0.0", 43 | "com.unity.modules.xr": "1.0.0" 44 | } 45 | } 46 | -------------------------------------------------------------------------------- /Packages/packages-lock.json: -------------------------------------------------------------------------------- 1 | { 2 | "dependencies": { 3 | "com.unity.collab-proxy": { 4 | "version": "1.3.9", 5 | "depth": 0, 6 | "source": "registry", 7 | "dependencies": {}, 8 | "url": "https://packages.unity.com" 9 | }, 10 | "com.unity.ext.nunit": { 11 | "version": "1.0.6", 12 | "depth": 1, 13 | "source": "registry", 14 | "dependencies": {}, 15 | "url": "https://packages.unity.com" 16 | }, 17 | "com.unity.ide.rider": { 18 | "version": "3.0.5", 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-------------------------------------------------------------------------------- 1 | { 2 | "m_SettingKeys": [ 3 | "VR Device Disabled", 4 | "VR Device User Alert" 5 | ], 6 | "m_SettingValues": [ 7 | "False", 8 | "False" 9 | ] 10 | } -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # unity-convexhull 2 | 3 | Realtime fast convexhull generator for Unity. 4 | 5 | Since this module generates a mesh, it is possible to use output mesh as a collider input for rigidBody collision. 6 | 7 | 8 | ### 2D Convexhull 9 | 10 | 11 | ### 3D Convexhull 12 | 13 | 14 | ## Usage 15 | You can assign specific vertex on scene view to include convex calculation. 16 | 17 | using a [simplex geom submodule](https://github.com/komietty/unity-simplex-geometry), so update submodule first. 18 | -------------------------------------------------------------------------------- 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