Base physics class available on client and server. More...

Inheritance diagram for KS.Reactor.ksBasePhysics:

Public Member Functions
delegate bool	DepenetrateCallback (ksICollider collider, ref ksVector3 direction, ref float distance)
	Depenetration callback for Depenetrate(ksOverlapParams, out ksVector3, DepenetrateCallback, float) More...

virtual void	SyncAll ()
	Apply all transform and rigidbody changes to the physics simulation now rather than waiting for the next simulation step. More...

virtual void	SyncTransforms ()
	Apply entity transform updates to the physics simulation now rather than waiting for the next simulation step. More...

abstract bool	RaycastAny (ksRaycastParams args)
	Raycast query that checks if anything was hit. More...

abstract bool	RaycastNearest (ksRaycastParams args, out ksRaycastResult hit)
	Raycast query that finds the nearest hit. More...

abstract ksQueryHitResults< ksRaycastResult >	Raycast (ksRaycastParams args)
	Raycast query that returns the nearest blocking hit and any touching hits before the blocking hit. More...

abstract bool	SweepAny (ksSweepParams args)
	Sweep query that checks if anything was hit. More...

abstract bool	SweepNearest (ksSweepParams args, out ksSweepResult hit)
	Sweep query that finds the nearest hit. More...

abstract ksQueryHitResults< ksSweepResult >	Sweep (ksSweepParams arg)
	Sweep query that returns the nearest blocking hit and any touching hits before the blocking hit. More...

abstract bool	OverlapAny (ksOverlapParams args)
	Overlap query that checks for any overlap. More...

abstract List< ksOverlapResult >	Overlap (ksOverlapParams args)
	Overlap query. More...

List< ksRaycastResult >	Raycast (ksVector3 origin, ksVector3 direction, float distance, bool includeOverlaps=false, ksQueryFlags flags=ksQueryFlags.DEFAULT, uint groupMask=0xffffffff, uint maxResults=255)
	Raycast. More...

List< ksSweepResult >	Sweep (ksShape shape, ksVector3 origin, ksQuaternion rotation, ksVector3 direction, float distance, bool includeOverlaps=false, ksQueryFlags flags=ksQueryFlags.DEFAULT, uint groupMask=0xffffffff, uint maxResults=255)
	Shape sweep. More...

List< ksSweepResult >	Sweep (ksIEntity entity, ksVector3 direction, float distance, bool includeOverlaps=false, ksQueryFlags flags=ksQueryFlags.DEFAULT, uint groupMask=0xffffffff, uint maxResults=255)
	Entity sweep using the current position and rotation as starting points. More...

List< ksSweepResult >	Sweep (ksIEntity entity, ksVector3 origin, ksQuaternion rotation, ksVector3 direction, float distance, bool excludeSelf=true, bool includeOverlaps=false, ksQueryFlags flags=ksQueryFlags.DEFAULT, uint groupMask=0xffffffff, uint maxResults=255)
	Entity sweep. More...

List< ksOverlapResult >	Overlap (ksShape shape, ksVector3 origin, ksQuaternion rotation, ksQueryFlags flags=ksQueryFlags.DEFAULT, uint groupMask=0xffffffff, uint maxResults=255)
	Shape overlap. More...

List< ksOverlapResult >	Overlap (ksIEntity entity, ksVector3 origin, ksQuaternion rotation, bool excludeSelf=true, ksQueryFlags flags=ksQueryFlags.DEFAULT, uint groupMask=0xffffffff, uint maxResults=255)
	Entity overlap. More...

abstract bool	ComputePenetration (ksICollider collider0, ksVector3 position0, ksQuaternion rotation0, ksICollider collider1, ksVector3 position1, ksQuaternion rotation1, out ksVector3 direction, out float distance)
	Compute the minimal translation required to separate the given colliders apart at specified poses. More...

abstract ksVector3	GetClosestPoint (ksVector3 point, ksICollider collider)
	Get the closest point on a collider to another point. More...

abstract ksVector3	GetClosestPoint (ksVector3 point, ksICollider collider, ksVector3 position, ksQuaternion rotation)
	Get the closest point on a collider to another point. More...

ksSweepSlideParams	CreateSimulationQueryParams (ksIEntity entity, bool excludeTouches=true)
	Creates ksSweepSlideParams for an entity configured to use simulation rules. More...

bool	Depenetrate (ksOverlapParams args, out ksVector3 delta, DepenetrateCallback callback=null, float separationOffset=.0001f)
	Does an overlap query and calcuates a depenetration delta to attempt to depenetrate from overlapping geometry. More...

bool	SweepAndSlide (ksSweepSlideParams args, out ksVector3 position)
	Does sweep-and-slide movement. More...

Protected Attributes
ksVector3	m_gravity

Properties
bool	AutoSync `[get, set]`
	If true, transform changes are synced with the physics system and stale inertia tensors and centers of mass are recalculated automatically before any physics queries. More...

ksVector3	Gravity `[get]`
	Gets the current gravity in the scene. More...

Detailed Description

Base physics class available on client and server.

Member Function Documentation

◆ ComputePenetration()

abstract bool KS.Reactor.ksBasePhysics.ComputePenetration	(	ksICollider	collider0,
		ksVector3	position0,
		ksQuaternion	rotation0,
		ksICollider	collider1,
		ksVector3	position1,
		ksQuaternion	rotation1,
		out ksVector3	direction,
		out float	distance
	)

pure virtual

Compute the minimal translation required to separate the given colliders apart at specified poses.

Parameters

collider0	First collider to test.
position0	Position of collider 0.
rotation0	Rotation of collider 0.
collider1	Secoond collider to test.
position1	Position of collider 1.
rotation1	Rotation of collider 1.
direction	Direction along which the translation required to separate collider0 from collider1 is minimal.
distance	The distance along the direction that is required to separate collider0 from collider1 .

Returns: True if the colliders were overlapping.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ CreateSimulationQueryParams()

ksSweepSlideParams KS.Reactor.ksBasePhysics.CreateSimulationQueryParams	(	ksIEntity	entity,
		bool	excludeTouches = `true`
	)

Creates ksSweepSlideParams for an entity configured to use simulation rules.

Anything the entity would collide with are blocking hits and optionally anything it would receive overlap events with are touching hits. This sets the ksBaseQueryParams.Filter and ksOverlapParams.EntityColliderFilter to a ksSimulationFilter, and sets the ksBaseQueryParams.ExcludeEntity to the entity .

Parameters

entity	Query entity
excludeTouches	If true, sets the ksQueryFlags.EXCLUDE_TOUCHES flag.

Returns: Overlap params using simulation rules.

◆ Depenetrate()

bool KS.Reactor.ksBasePhysics.Depenetrate	(	ksOverlapParams	args,
		out ksVector3	delta,
		DepenetrateCallback	callback = `null`,
		float	separationOffset = `.0001f`
	)

Does an overlap query and calcuates a depenetration delta to attempt to depenetrate from overlapping geometry.

If the overlap query returns multiple results the depenetration vector from the previous overlap will be added to the position when computing the depenetration vector for the next overlap. This may result in pushing the object back into the first overlapping geometry. Geometry that the object gets pushed into by the depenetration vector that was not initially overlapping will not be considered.

Parameters

args	Overlap query parameters. The query object cannot be a shape.
delta	Depenetration delta
callback	Callback to call for each overlapping collider. Can be used to alter the depenetration vector for each collider, or to cancel the entire depenetration by returning false.
separationOffset	Amount to add to the depenetration distance for each overlapping collider. Helps prevent penetrations when sweeping.

Returns: True if there was a penetration.

◆ DepenetrateCallback()

delegate bool KS.Reactor.ksBasePhysics.DepenetrateCallback	(	ksICollider	collider,
		ref ksVector3	direction,
		ref float	distance
	)

Depenetration callback for Depenetrate(ksOverlapParams, out ksVector3, DepenetrateCallback, float)

Parameters

collider	Collider being penetrated.
direction	Minimum depenetration movement direction. Can be changed to alter movement direction.
distance	Minimum depenetration movement distance. Can be changed to alter the movement distance. Set to zero to ignore the penetration.

Returns: False to cancel all depenetrations.

◆ GetClosestPoint() [1/2]

abstract ksVector3 KS.Reactor.ksBasePhysics.GetClosestPoint	(	ksVector3	point,
		ksICollider	collider
	)

pure virtual

Get the closest point on a collider to another point.

Currently supported colliders: box, sphere, capsule, convexmesh.

Parameters

point	Point to measure from.
collider	Collider to get the closest point from.

Returns: Closest point on the collider.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ GetClosestPoint() [2/2]

abstract ksVector3 KS.Reactor.ksBasePhysics.GetClosestPoint	(	ksVector3	point,
		ksICollider	collider,
		ksVector3	position,
		ksQuaternion	rotation
	)

pure virtual

Get the closest point on a collider to another point.

Currently supported colliders: box, sphere, capsule, convexmesh.

Parameters

point	Point to measure from.
collider	Collider to get the closest point from.
position	Collider position
rotation	Collider rotation

Returns: Closest point on the collider.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ Overlap() [1/3]

List<ksOverlapResult> KS.Reactor.ksBasePhysics.Overlap	(	ksIEntity	entity,
		ksVector3	origin,
		ksQuaternion	rotation,
		bool	excludeSelf = `true`,
		ksQueryFlags	flags = `ksQueryFlags.DEFAULT`,
		uint	groupMask = `0xffffffff`,
		uint	maxResults = `255`
	)

Entity overlap.

Parameters

entity	Entity.
origin	Entity point.
rotation	Entity orientation.
excludeSelf	Exclude this entity in the returned results.
flags	Bit flags for filtering static, dynamic, and first hit.
groupMask	Bit mask of collsion groups.
maxResults	Unused

Returns: List of overlap results.

◆ Overlap() [2/3]

abstract List<ksOverlapResult> KS.Reactor.ksBasePhysics.Overlap ( ksOverlapParams args )

pure virtual

Overlap query.

Parameters

args	Overlap parameters

Returns: List of overlap results.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ Overlap() [3/3]

List<ksOverlapResult> KS.Reactor.ksBasePhysics.Overlap	(	ksShape	shape,
		ksVector3	origin,
		ksQuaternion	rotation,
		ksQueryFlags	flags = `ksQueryFlags.DEFAULT`,
		uint	groupMask = `0xffffffff`,
		uint	maxResults = `255`
	)

Shape overlap.

Parameters

shape	Primitive or convex shape.
origin	Origin point.
rotation	Shape orientation.
flags	Bit flags for filtering static, dynamic, and first hit.
groupMask	Bit mask of collsion groups.
maxResults	Unused

Returns: List of overlap results.

◆ OverlapAny()

abstract bool KS.Reactor.ksBasePhysics.OverlapAny ( ksOverlapParams args )

pure virtual

Overlap query that checks for any overlap.

Parameters

args	Overlap parameters

Returns: True if anything was overlapping.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ Raycast() [1/2]

abstract ksQueryHitResults<ksRaycastResult> KS.Reactor.ksBasePhysics.Raycast ( ksRaycastParams args )

pure virtual

Raycast query that returns the nearest blocking hit and any touching hits before the blocking hit.

Parameters

args	Raycast parameters

Returns: Raycast results

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ Raycast() [2/2]

List<ksRaycastResult> KS.Reactor.ksBasePhysics.Raycast	(	ksVector3	origin,
		ksVector3	direction,
		float	distance,
		bool	includeOverlaps = `false`,
		ksQueryFlags	flags = `ksQueryFlags.DEFAULT`,
		uint	groupMask = `0xffffffff`,
		uint	maxResults = `255`
	)

Raycast.

Parameters

origin	Origin point.
direction	Direction vector.
distance	Ray distance.
groupMask	Bit mask of collsion groups.
includeOverlaps	Include entities that overlap the origin.
flags	Bit flags for filtering static, dynamic, and first hit.
maxResults	Unused

Returns

◆ RaycastAny()

abstract bool KS.Reactor.ksBasePhysics.RaycastAny ( ksRaycastParams args )

pure virtual

Raycast query that checks if anything was hit.

Parameters

args	Raycast parameters

Returns: True if the raycast hit anything.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ RaycastNearest()

abstract bool KS.Reactor.ksBasePhysics.RaycastNearest	(	ksRaycastParams	args,
		out ksRaycastResult	hit
	)

pure virtual

Raycast query that finds the nearest hit.

Parameters

args	Raycast parameters
hit	Set to the nearest hit.

Returns: True if the raycast hit anything.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ Sweep() [1/4]

List<ksSweepResult> KS.Reactor.ksBasePhysics.Sweep	(	ksIEntity	entity,
		ksVector3	direction,
		float	distance,
		bool	includeOverlaps = `false`,
		ksQueryFlags	flags = `ksQueryFlags.DEFAULT`,
		uint	groupMask = `0xffffffff`,
		uint	maxResults = `255`
	)

Entity sweep using the current position and rotation as starting points.

Parameters

entity	Entity.
direction	Direction vector.
distance	Ray distance.
includeOverlaps	Include entities that overlap at the origin.
flags	Bit flags for filtering static, dynamic, and first hit.
groupMask	Bit mask of collsion groups.
maxResults	Unused

Returns

◆ Sweep() [2/4]

List<ksSweepResult> KS.Reactor.ksBasePhysics.Sweep	(	ksIEntity	entity,
		ksVector3	origin,
		ksQuaternion	rotation,
		ksVector3	direction,
		float	distance,
		bool	excludeSelf = `true`,
		bool	includeOverlaps = `false`,
		ksQueryFlags	flags = `ksQueryFlags.DEFAULT`,
		uint	groupMask = `0xffffffff`,
		uint	maxResults = `255`
	)

Entity sweep.

Parameters

entity	Entity.
origin	Origin point.
rotation	Entity orientation.
direction	Direction vector.
distance	Sweep distance.
excludeSelf	Exclude this entity in the returned results.
includeOverlaps	Include entities that overlap at the origin.
flags	Bit flags for filtering static, dynamic, and first hit.
groupMask	Bit mask of collsion groups.
maxResults	Unused

Returns: List of sweep results.

◆ Sweep() [3/4]

List<ksSweepResult> KS.Reactor.ksBasePhysics.Sweep	(	ksShape	shape,
		ksVector3	origin,
		ksQuaternion	rotation,
		ksVector3	direction,
		float	distance,
		bool	includeOverlaps = `false`,
		ksQueryFlags	flags = `ksQueryFlags.DEFAULT`,
		uint	groupMask = `0xffffffff`,
		uint	maxResults = `255`
	)

Shape sweep.

Parameters

shape	Primitive or convex shape.
origin	Origin point.
rotation	Shape orientation.
direction	Direction vector.
distance	Sweep distance.
includeOverlaps	Include entities that overlap at the origin.
flags	Bit flags for filtering static, dynamic, and first hit.
groupMask	Bit mask of collsion groups.
maxResults	Unused

Returns: List of sweep results.

◆ Sweep() [4/4]

abstract ksQueryHitResults<ksSweepResult> KS.Reactor.ksBasePhysics.Sweep ( ksSweepParams arg )

pure virtual

Sweep query that returns the nearest blocking hit and any touching hits before the blocking hit.

Parameters

args	Sweep parameters

Returns: Sweep results

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ SweepAndSlide()

bool KS.Reactor.ksBasePhysics.SweepAndSlide	(	ksSweepSlideParams	args,
		out ksVector3	position
	)

Does sweep-and-slide movement.

When a sweep hits something, the remaining movement vector is projected onto the plane perpendicuar to the surface normal to get a new movement vector which is used to sweep recursively.

Parameters

args	Sweep parameters
position	Position at the end of the sweep-and-slide movement.

Returns: True if the sweep and slide hit anything.

◆ SweepAny()

abstract bool KS.Reactor.ksBasePhysics.SweepAny ( ksSweepParams args )

pure virtual

Sweep query that checks if anything was hit.

Parameters

args	Sweep arguments

Returns: True if the sweep hit anything.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ SweepNearest()

abstract bool KS.Reactor.ksBasePhysics.SweepNearest	(	ksSweepParams	args,
		out ksSweepResult	hit
	)

pure virtual

Sweep query that finds the nearest hit.

Parameters

args	Sweep arguments
hit	Set to the nearest hit.

Returns: True if the sweep hit anything.

Implemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ SyncAll()

virtual void KS.Reactor.ksBasePhysics.SyncAll ( )

virtual

Apply all transform and rigidbody changes to the physics simulation now rather than waiting for the next simulation step.

Reimplemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

◆ SyncTransforms()

virtual void KS.Reactor.ksBasePhysics.SyncTransforms ( )

virtual

Apply entity transform updates to the physics simulation now rather than waiting for the next simulation step.

Reimplemented in KS.Reactor.Client.Unity.ksPhysicsAdaptor.

Property Documentation

◆ AutoSync

bool KS.Reactor.ksBasePhysics.AutoSync

getset

If true, transform changes are synced with the physics system and stale inertia tensors and centers of mass are recalculated automatically before any physics queries.

If this is false, changes are only synced during the simulation step, and you are responsible for calling Sync if you want to sync changes sooner.

◆ Gravity

ksVector3 KS.Reactor.ksBasePhysics.Gravity

get

Gets the current gravity in the scene.

Public Member Functions

Protected Attributes

Properties

Detailed Description

Member Function Documentation

◆ ComputePenetration()

◆ CreateSimulationQueryParams()

◆ Depenetrate()

◆ DepenetrateCallback()

◆ GetClosestPoint() [1/2]

◆ GetClosestPoint() [2/2]

◆ Overlap() [1/3]

◆ Overlap() [2/3]

◆ Overlap() [3/3]

◆ OverlapAny()

◆ Raycast() [1/2]

◆ Raycast() [2/2]

◆ RaycastAny()

◆ RaycastNearest()

◆ Sweep() [1/4]

◆ Sweep() [2/4]

◆ Sweep() [3/4]

◆ Sweep() [4/4]

◆ SweepAndSlide()

◆ SweepAny()

◆ SweepNearest()

◆ SyncAll()

◆ SyncTransforms()

Property Documentation

◆ AutoSync

◆ Gravity