Table of Contents

Class LSCollider

Namespace
Gravitas.Colliders
Assembly
Gravitas.dll

Common runtime type for the closed set of Gravitas-owned 3D collider shapes. Use CreateCollider() when constructing from engine-adapter shape data.

public abstract class LSCollider : IRecordable
Inheritance
LSCollider
Implements
IRecordable
Derived
Inherited Members

Fields

_bounds

Stores the committed world-space axis-aligned bounds.

protected FixedBoundBox _bounds

Field Value

FixedBoundBox

_debug

Controls collider debug diagnostics.

protected bool _debug

Field Value

bool

_drawShape

Controls collider shape debug drawing.

protected bool _drawShape

Field Value

bool

_offset

Center of collider in local space, used for calculating bounds and offsets. Should be set in the Setup method of each collider type.

protected Vector3d _offset

Field Value

Vector3d

_radius

Stores the unscaled radius for radius-based collider shapes.

protected Fixed64 _radius

Field Value

Fixed64

_size

Stores the unscaled local collider size.

protected Vector3d _size

Field Value

Vector3d

Properties

Area

Gets the committed shape-specific measure used as the frontal-area fallback.

public virtual Fixed64 Area { get; protected set; }

Property Value

Fixed64

Body

Gets the owning 3D body, or null for a bodyless collider.

public SolidBody? Body { get; }

Property Value

SolidBody

Bounds

Gets the committed world-space axis-aligned bounds.

public FixedBoundBox Bounds { get; }

Property Value

FixedBoundBox

BoundsMax

Gets the maximum corner of Bounds.

public Vector3d BoundsMax { get; }

Property Value

Vector3d

BoundsMin

Gets the minimum corner of Bounds.

public Vector3d BoundsMin { get; }

Property Value

Vector3d

Center

Bodies position in world space + collider offset (center) value

public Vector3d Center { get; }

Property Value

Vector3d

Context

Gets the world context to which this collider is bound.

public GravitasWorldContext Context { get; }

Property Value

GravitasWorldContext

HasCommittedShape

Gets whether this collider has committed runtime shape state.

protected bool HasCommittedShape { get; }

Property Value

bool

Id

Gets the context-local runtime collider identifier.

public int Id { get; }

Property Value

int

IgnoredCollisionLayers

Gets or sets physical layers this collider ignores for collider-to-collider interactions. Public queries continue to use the caller's query mask.

public PhysicsLayerMask IgnoredCollisionLayers { get; set; }

Property Value

PhysicsLayerMask

IsActive

Gets or sets whether this collider participates in runtime physics.

public bool IsActive { get; set; }

Property Value

bool

IsChild

Gets whether this collider has a hierarchy parent.

public bool IsChild { get; }

Property Value

bool

IsParent

Gets whether this collider is configured as or currently owns a hierarchy parent.

public bool IsParent { get; }

Property Value

bool

IsPartitioned

Gets whether this collider currently has 3D broad-phase partition membership.

public bool IsPartitioned { get; }

Property Value

bool

IsStatic

Gets whether this collider is bodyless or belongs to an explicit static body role.

public bool IsStatic { get; }

Property Value

bool

IsTrigger

Gets or sets whether this bodyless collider is a trigger volume. Trigger volumes raise trigger enter/stay/exit callbacks for valid overlap pairs and never apply physical response.

public bool IsTrigger { get; set; }

Property Value

bool

Layer

Gets or sets the single physics layer used for collision and query filtering.

public PhysicsLayer Layer { get; set; }

Property Value

PhysicsLayer

LocalOffset

Gets or sets the unscaled local center offset used by bounds and shape-derived state.

public Vector3d LocalOffset { get; set; }

Property Value

Vector3d

LocalScale

Gets the combined owner and compound-part scale.

public virtual Vector3d LocalScale { get; }

Property Value

Vector3d

Material

Gets or sets the deterministic surface material used by collision response for this collider.

public PhysicsMaterial Material { get; set; }

Property Value

PhysicsMaterial

Parent2D

Gets the 2D parent collider, when the parent belongs to the 2D runtime.

public LSCollider2D? Parent2D { get; }

Property Value

LSCollider2D

Parent3D

Gets the 3D parent collider, when the parent belongs to the 3D runtime.

public LSCollider? Parent3D { get; }

Property Value

LSCollider

ParentId

Gets the context-local identifier of the parent collider, or -1 when unparented.

public int ParentId { get; }

Property Value

int

PartitionChanged

Used for preventing culling for the first frame this object is added to a new partition node.

public bool PartitionChanged { get; set; }

Property Value

bool

Position

Gets the runtime world position, or sets it for a bodyless collider.

public Vector3d Position { get; set; }

Property Value

Vector3d

Priority

Gets the deterministic narrow-phase ordering priority.

public abstract int Priority { get; }

Property Value

int

Radius

Gets or sets the unscaled shape radius used by radius-based colliders.

public Fixed64 Radius { get; set; }

Property Value

Fixed64

Rotation

Gets the committed world rotation, or sets it for a bodyless collider.

public FixedQuaternion Rotation { get; set; }

Property Value

FixedQuaternion

ScaledOffset

Gets the component-scaled local offset.

public Vector3d ScaledOffset { get; }

Property Value

Vector3d

Exceptions

InvalidOperationException

The scaled offset itself is outside the Fixed64 coordinate domain. The collider may still have a representable world center through exact transform cancellation.

ScaledRadius

Gets the bounding circle radius. For boxes, this is half of the diagonal length of the cube

public virtual Fixed64 ScaledRadius { get; }

Property Value

Fixed64

The radius.

ScaledRadiusSqr

Gets the squared scaled bounding radius.

public Fixed64 ScaledRadiusSqr { get; }

Property Value

Fixed64

Shape

Gets the runtime 3D shape family.

public abstract ColliderType Shape { get; }

Property Value

ColliderType

Size

Gets or sets the unscaled local size used when rebuilding collider bounds.

public Vector3d Size { get; set; }

Property Value

Vector3d

Transform

Gets the transform that supplies this collider's runtime pose.

public FixedTransform Transform { get; }

Property Value

FixedTransform

Velocity

Gets the owning body's linear velocity, or zero for a bodyless collider.

public Vector3d Velocity { get; }

Property Value

Vector3d

World

Gets the GridForge world owned by this collider's context.

public GridWorld World { get; }

Property Value

GridWorld

Methods

CalculateInertiaTensor(Fixed64, Vector3d)

Calculates inertia for a mass about a body-local reference point.

public virtual Fixed3x3 CalculateInertiaTensor(Fixed64 mass, Vector3d localCenterOfMassOffset)

Parameters

mass Fixed64
localCenterOfMassOffset Vector3d

Returns

Fixed3x3

CalculateLocalCenterOfMassOffset()

Calculates the body-local center of mass offset implied by this collider's current shape state.

public virtual Vector3d CalculateLocalCenterOfMassOffset()

Returns

Vector3d

ClearParent()

Removes this collider from its current hierarchy parent.

public void ClearParent()

ClosestPointOnSurface(Vector3d)

Gets the point on this collider's surface nearest to a world-space point.

public abstract Vector3d ClosestPointOnSurface(Vector3d other)

Parameters

other Vector3d

Returns

Vector3d

ColliderOverlapsRay(RaycastSegmentWorker, ref SwiftList<Vector3d>)

Checks if this object overlaps the line formed by p1 and p2

public abstract bool ColliderOverlapsRay(RaycastSegmentWorker worker, ref SwiftList<Vector3d> outputIntersectionPoints)

Parameters

worker RaycastSegmentWorker

The prepared ray-axis worker for the owning query service.

outputIntersectionPoints SwiftList<Vector3d>

Returns

bool

Deactivate()

Unregisters this collider, or deactivates its owning body.

public void Deactivate()

GetFrontalArea(Vector3d)

Gets the frontal-area estimate for a world-space direction; the base implementation returns Area.

public virtual Fixed64 GetFrontalArea(Vector3d direction)

Parameters

direction Vector3d

Returns

Fixed64

GetNormalAtPoint(Vector3d)

The direction pointing outward from the surface of the collider at the point

public abstract Vector3d GetNormalAtPoint(Vector3d point)

Parameters

point Vector3d

Returns

Vector3d

InitializeWithNoBody(IMatterAgent)

Binds and registers this collider as a bodyless runtime collider.

public void InitializeWithNoBody(IMatterAgent agent)

Parameters

agent IMatterAgent

IsPositionInBounds(Fixed64, Vector3d)

Checks if position is in the padded bounds of the collider, used for broad phase collision detection

public bool IsPositionInBounds(Fixed64 cellPadding, Vector3d position)

Parameters

cellPadding Fixed64

The topology cell edge used to conservatively pad the bounds.

position Vector3d

The position to check

Returns

bool

True if position within bounds

IsSibling(LSCollider)

Gets whether hierarchy rules exclude collision with another 3D collider.

public bool IsSibling(LSCollider other)

Parameters

other LSCollider

Returns

bool

MarkShapeDirty()

Marks derived runtime shape state for deterministic rebuilding.

protected void MarkShapeDirty()

NormalizeSize(Vector3d)

Normalizes an authored size for the derived shape.

protected virtual Vector3d NormalizeSize(Vector3d value)

Parameters

value Vector3d

Returns

Vector3d

OnBeforeInitialize(IMatterAgent)

Validates or prepares derived shape state before runtime registration.

protected virtual void OnBeforeInitialize(IMatterAgent agent)

Parameters

agent IMatterAgent

OnInitialize()

Runs derived initialization after runtime registration.

protected virtual void OnInitialize()

OnMaterialChanged()

Updates derived material state after Material changes.

protected virtual void OnMaterialChanged()

OnRadiusChanged()

Updates derived authored dimensions after Radius changes.

protected virtual void OnRadiusChanged()

RecordData(IChronicler)

Records the current instance state to the provided chronicler.

public void RecordData(IChronicler chronicler)

Parameters

chronicler IChronicler

The active chronicler pass.

SetParent(LSCollider)

Assigns a 3D hierarchy parent used for collision exclusion.

public void SetParent(LSCollider parent)

Parameters

parent LSCollider

SetParent(LSCollider2D)

Assigns a 2D hierarchy parent used for mixed collision exclusion.

public void SetParent(LSCollider2D parent)

Parameters

parent LSCollider2D

SetPreparedBounds(FixedBoundBox)

Sets the bounds for the shape transaction being prepared.

protected void SetPreparedBounds(FixedBoundBox bounds)

Parameters

bounds FixedBoundBox

SetPreviousGridBounds()

Records the current bounds and partition role for broad-phase refresh checks.

public void SetPreviousGridBounds()

Simulate()

Refreshes bodyless collider shape and broad-phase state for one simulation step.

public void Simulate()

TryGetLocalScale(out Vector3d)

Attempts to materialize the combined owner and compound-part scale. Shape preparation retains those factors separately and does not require their product to be representable.

public bool TryGetLocalScale(out Vector3d scale)

Parameters

scale Vector3d

Returns

bool

TryGetScaledOffset(out Vector3d)

Attempts to materialize the component-scaled local offset independently from the collider's complete world transform.

public bool TryGetScaledOffset(out Vector3d scaledOffset)

Parameters

scaledOffset Vector3d

Returns

bool

Events

OnContact

Raised while this collider is touching another collider that owns a 3D body.

public event LSCollider.BodyCollisionFunc? OnContact

Event Type

LSCollider.BodyCollisionFunc

OnContactEnter

Raised on the first simulation frame this collider touches another 3D body.

public event LSCollider.BodyCollisionFunc? OnContactEnter

Event Type

LSCollider.BodyCollisionFunc

OnContactExit

Raised when this collider stops touching another 3D body.

public event LSCollider.BodyCollisionFunc? OnContactExit

Event Type

LSCollider.BodyCollisionFunc

OnMixedContact

Raised while this collider has a physical mixed contact with a 2D collider.

public event LSCollider.MixedCollisionFunc? OnMixedContact

Event Type

LSCollider.MixedCollisionFunc

OnMixedContactEnter

Raised when this collider begins a physical mixed contact with a 2D collider.

public event LSCollider.MixedCollisionFunc? OnMixedContactEnter

Event Type

LSCollider.MixedCollisionFunc

OnMixedContactExit

Raised when this collider ends a physical mixed contact with a 2D collider.

public event LSCollider.MixedCollisionFunc? OnMixedContactExit

Event Type

LSCollider.MixedCollisionFunc

OnMixedTriggerEnter

Raised on the first mixed 3D/2D simulation frame this collider participates in a valid trigger pair.

public event LSCollider.MixedCollisionFunc? OnMixedTriggerEnter

Event Type

LSCollider.MixedCollisionFunc

OnMixedTriggerExit

Raised when this collider stops participating in a valid mixed 3D/2D trigger pair.

public event LSCollider.MixedCollisionFunc? OnMixedTriggerExit

Event Type

LSCollider.MixedCollisionFunc

OnMixedTriggerStay

Raised each mixed 3D/2D simulation frame this collider participates in an overlapped valid trigger pair.

public event LSCollider.MixedCollisionFunc? OnMixedTriggerStay

Event Type

LSCollider.MixedCollisionFunc

OnTriggerEnter

Raised on the first simulation frame this collider participates in a valid trigger pair.

public event LSCollider.TriggerCollisionFunc? OnTriggerEnter

Event Type

LSCollider.TriggerCollisionFunc

OnTriggerExit

Raised when this collider stops participating in a valid trigger pair.

public event LSCollider.TriggerCollisionFunc? OnTriggerExit

Event Type

LSCollider.TriggerCollisionFunc

OnTriggerStay

Raised each simulation frame this collider participates in an overlapped valid trigger pair.

public event LSCollider.TriggerCollisionFunc? OnTriggerStay

Event Type

LSCollider.TriggerCollisionFunc
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