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升级obi

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This commit is contained in:
BobSong
2026-01-22 22:08:21 +08:00
parent 120b8cda26
commit 20f14322bc
1067 changed files with 149894 additions and 29583 deletions
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4
Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs
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@@ -50,6 +50,7 @@ namespace Obi
convexRadii += radii[particle] * convexBary[j];
convexOrientation.value += orientations[particle].value * convexBary[j];
}
convexPoint.w = 0;
}
public static SurfacePoint Optimize<T>(ref T function,
@@ -112,6 +113,7 @@ namespace Obi
{
int particle = simplices[simplexStart + j];
float4 candidate = positions[particle] - convexPoint;
candidate.w = 0;
// here, we adjust the candidate by projecting it to the engrosed simplex's surface:
candidate -= pointInFunction.normal * (radii[particle].x - convexThickness.x);
@@ -176,6 +178,8 @@ namespace Obi
float4 candidateC = positions[simplices[simplexStart]] - pointInFunction.point;
float4 candidateD = positions[simplices[simplexStart + 1]] - pointInFunctionD.point;
candidateC.w = 0;
candidateD.w = 0;
candidateC -= pointInFunction.normal * (radii[simplices[simplexStart]].x - convexThickness.x);
candidateD -= pointInFunctionD.normal * (radii[simplices[simplexStart + 1]].x - convexThicknessD.x);