Unity ecs physics collision

Unity DOTS中的物理系统即Unity.Physics，这里使用一个简单的demo（小球相撞效果），来说明一下 碰撞 Collision。
1、创建两个sphere（注意，要去掉ShpereCollider），添加Physics Shape，ShapeType 选择 Sphere，PhysicsShape 选择Collide Raise Collision Events。新建CollisionFilter类型Sphere和Plane，然后设置 BelongsTo = Sphere，设置CollidesWith = Sphere, Plane；添加 Physics Body。

2、创建三个plane（注意，要去掉MeshCollider），添加Physics Shape，ShapeType 选择 Plane，PhysicsShape 选择Collide。然后设置 CollisionFilter， BelongsTo = Plane，设置CollidesWith = Sphere；添加 Physics Body，MotionType设为Kinematic。

3、小球碰撞，触发逻辑

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Unity.Entities;
using Unity.Mathematics;
using Unity.Transforms;
using Unity.Physics;
using Unity.Collections;
using Unity.Physics.Systems;

public class PhysicalSystem : SystemBase
{
    private BuildPhysicsWorld buildPhysicsWorld;//物理系统的准备工作，将TriggerCollisionEvents传递给Job
    private StepPhysicsWorld stepPhysicsWorld;//物理系统的准备工作，将TriggerCollisionEvents传递给Job

    protected override void OnCreate()
    {
        buildPhysicsWorld = World.GetOrCreateSystem<BuildPhysicsWorld>();
        stepPhysicsWorld = World.GetOrCreateSystem<StepPhysicsWorld>();
    }

    protected override void OnUpdate()
    {
        ColliderJob colliderJob = new ColliderJob()
        {
            velocitys = GetComponentDataFromEntity<PhysicsVelocity>()
        };
        Dependency = colliderJob.Schedule(stepPhysicsWorld.Simulation, ref buildPhysicsWorld.PhysicsWorld, Dependency);
    }
}


public struct ColliderJob : ICollisionEventsJob
{
    public ComponentDataFromEntity<PhysicsVelocity> velocitys;

    public void Execute(CollisionEvent collisionEvent)
    {
        if (velocitys.HasComponent(collisionEvent.EntityA) && IsSphere(collisionEvent.EntityA, "Sphere"))
        {
            if (velocitys.HasComponent(collisionEvent.EntityB) && IsSphere(collisionEvent.EntityB, "Sphere"))
            {
                var velocityA = velocitys[collisionEvent.EntityA];
                var dirA = -math.sign(velocityA.Linear.x);
                //Debug.Log("dirA = " + dirA);
                velocityA.Linear.x = dirA * 20;
                velocitys[collisionEvent.EntityA] = velocityA;

                var velocityB = velocitys[collisionEvent.EntityB];
                var dirB = -math.sign(velocityB.Linear.x);
                //Debug.Log("dirB = " + dirB);
                velocityB.Linear.x = dirB * 20;
                velocitys[collisionEvent.EntityB] = velocityB;
            }
        }
    }

    public bool IsSphere(Entity entity, string name)
    {
        return World.DefaultGameObjectInjectionWorld.EntityManager.GetName(entity) == name;
    }
}