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Skip processing for non-convex MeshCollider #1657

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Skip processing for non-convex MeshCollider #1657

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44 changes: 30 additions & 14 deletions Packages/Tracking/Physical Hands/Runtime/Scripts/ContactBone.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -223,13 +223,21 @@ private void UpdateObjectDistances(Collider[] colliderCache, int count)

if (IsPalm)
{
// Do palm logic
colliderPos = ContactUtils.ClosestPointEstimationFromRectangle(_palmColCenter, _palmColRotation, _palmExtentsReduced.xz(), collider);
bonePos = ContactUtils.ClosestPointToRectangleFace(_palmPoints, _palmPlane.ClosestPointOnPlane(colliderTransformPosition));
midPoint = colliderPos + (bonePos + ((bonePos - colliderPos).normalized * width) - colliderPos) / 2f;
if (collider is BoxCollider || collider is SphereCollider || collider is CapsuleCollider || (collider is MeshCollider meshCollider && meshCollider.convex))
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To reduce the number of type checks here, could you invert this logic to just check if (collider is MeshCollider meshCollider && !meshCollider.convex)?

{
// Do palm logic
colliderPos = ContactUtils.ClosestPointEstimationFromRectangle(_palmColCenter, _palmColRotation, _palmExtentsReduced.xz(), collider);
bonePos = ContactUtils.ClosestPointToRectangleFace(_palmPoints, _palmPlane.ClosestPointOnPlane(colliderTransformPosition));
midPoint = colliderPos + (bonePos + ((bonePos - colliderPos).normalized * width) - colliderPos) / 2f;

colliderPos = collider.ClosestPoint(midPoint);
bonePos = ContactUtils.ClosestPointToRectangleFace(_palmPoints, _palmPlane.ClosestPointOnPlane(midPoint));
colliderPos = collider.ClosestPoint(midPoint);
bonePos = ContactUtils.ClosestPointToRectangleFace(_palmPoints, _palmPlane.ClosestPointOnPlane(midPoint));
}
else
{
// Skip processing for non-convex MeshCollider
continue;
}
}
else
{
Expand All @@ -238,14 +246,22 @@ private void UpdateObjectDistances(Collider[] colliderCache, int count)
float lineLength = lineDir.magnitude;
lineDir.Normalize();

colliderPos = collider.ClosestPoint((boneTransformPosition + tipPosition) * 0.5f);
// Do joint logic
bonePos = ContactUtils.GetClosestPointOnFiniteLine(colliderTransformPosition, boneTransformPosition, lineDir, lineLength);
// We need to extrude the line to get the bone's edge
midPoint = colliderPos + (bonePos + ((bonePos - colliderPos).normalized * width) - colliderPos) / 2f;

colliderPos = collider.ClosestPoint(midPoint);
bonePos = ContactUtils.GetClosestPointOnFiniteLine(midPoint, boneTransformPosition, lineDir, lineLength);
if (collider is BoxCollider || collider is SphereCollider || collider is CapsuleCollider || (collider is MeshCollider meshCollider && meshCollider.convex))
{
colliderPos = collider.ClosestPoint((boneTransformPosition + tipPosition) * 0.5f);
// Do joint logic
bonePos = ContactUtils.GetClosestPointOnFiniteLine(colliderTransformPosition, boneTransformPosition, lineDir, lineLength);
// We need to extrude the line to get the bone's edge
midPoint = colliderPos + (bonePos + ((bonePos - colliderPos).normalized * width) - colliderPos) / 2f;

colliderPos = collider.ClosestPoint(midPoint);
bonePos = ContactUtils.GetClosestPointOnFiniteLine(midPoint, boneTransformPosition, lineDir, lineLength);
}
else
{
// Skip processing for non-convex MeshCollider
continue;
}
}

distance = Vector3.Distance(colliderPos, bonePos);
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