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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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75
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs
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@@ -23,6 +23,8 @@ namespace Obi
private NativeArray<float4x4> linearTransforms;
private NativeArray<float4x4> plasticDeformations;
private bool m_RecalculateRestShape = false;
public BurstShapeMatchingConstraintsBatch(BurstShapeMatchingConstraints constraints)
{
m_Constraints = constraints;
@@ -67,13 +69,37 @@ namespace Obi
Aqq.Dispose();
}
public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
public override JobHandle Initialize(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
{
return inputDeps;
}
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int steps, float timeLeft)
{
if (m_RecalculateRestShape)
{
m_RecalculateRestShape = false;
var calculateRest = new ShapeMatchingCalculateRestJob()
{
particleIndices = particleIndices,
firstIndex = firstIndex,
numIndices = numIndices,
restComs = restComs,
coms = coms,
Aqq = Aqq,
deformation = plasticDeformations,
restPositions = solverAbstraction.restPositions.AsNativeArray<float4>(),
restOrientations = solverAbstraction.restOrientations.AsNativeArray<quaternion>(),
principalRadii = solverAbstraction.principalRadii.AsNativeArray<float4>(),
invMasses = solverAbstraction.invMasses.AsNativeArray<float>(),
invRotationalMasses = solverAbstraction.invRotationalMasses.AsNativeArray<float>(),
};
inputDeps = calculateRest.Schedule(numIndices.Length, 64, inputDeps);
}
var projectConstraints = new ShapeMatchingConstraintsBatchJob()
{
particleIndices = particleIndices,
@@ -94,7 +120,7 @@ namespace Obi
restOrientations = solverImplementation.restOrientations,
invMasses = solverImplementation.invMasses,
invRotationalMasses = solverImplementation.invRotationalMasses,
invInertiaTensors = solverImplementation.invInertiaTensors,
principalRadii = solverImplementation.principalRadii,
deltas = solverImplementation.positionDeltas,
counts = solverImplementation.positionConstraintCounts,
@@ -127,25 +153,7 @@ namespace Obi
public void CalculateRestShapeMatching()
{
var deps = ((BurstSolverImpl)constraints.solver).RecalculateInertiaTensors(new JobHandle());
var calculateRest = new ShapeMatchingCalculateRestJob()
{
particleIndices = particleIndices,
firstIndex = firstIndex,
numIndices = numIndices,
restComs = restComs,
coms = coms,
Aqq = Aqq,
deformation = plasticDeformations,
restPositions = solverAbstraction.restPositions.AsNativeArray<float4>(),
restOrientations = solverAbstraction.restOrientations.AsNativeArray<quaternion>(),
invMasses = solverAbstraction.invMasses.AsNativeArray<float>(),
invInertiaTensors = solverAbstraction.invInertiaTensors.AsNativeArray<float4>(),
};
calculateRest.Schedule(numIndices.Length, 64, deps).Complete();
m_RecalculateRestShape = true;
}
protected static void RecalculateRestData(int i,
@@ -156,9 +164,10 @@ namespace Obi
ref NativeArray<float4x4> deformation,
ref NativeArray<int> numIndices,
ref NativeArray<float> invMasses,
ref NativeArray<float> invRotationalMasses,
ref NativeArray<float4> restPositions,
ref NativeArray<quaternion> restOrientations,
ref NativeArray<float4> invInertiaTensors)
ref NativeArray<float4> principalRadii)
{
int k = 0;
float maximumMass = 10000;
@@ -185,7 +194,7 @@ namespace Obi
particleR[3][3] = 0;
_Rqq += math.mul(particleR,
math.mul(math.rcp(invInertiaTensors[k] + new float4(BurstMath.epsilon)).asDiagonal(),
math.mul(BurstMath.GetParticleInertiaTensor(principalRadii[k], invRotationalMasses[k]).asDiagonal(),
math.transpose(particleR))
);
@@ -225,7 +234,8 @@ namespace Obi
[ReadOnly] public NativeArray<float4> restPositions;
[ReadOnly] public NativeArray<quaternion> restOrientations;
[ReadOnly] public NativeArray<float> invMasses;
[ReadOnly] public NativeArray<float4> invInertiaTensors;
[ReadOnly] public NativeArray<float> invRotationalMasses;
[ReadOnly] public NativeArray<float4> principalRadii;
public void Execute(int i)
{
@@ -237,9 +247,10 @@ namespace Obi
ref deformation,
ref numIndices,
ref invMasses,
ref invRotationalMasses,
ref restPositions,
ref restOrientations,
ref invInertiaTensors);
ref principalRadii);
}
}
@@ -265,7 +276,7 @@ namespace Obi
[ReadOnly] public NativeArray<quaternion> restOrientations;
[ReadOnly] public NativeArray<float> invMasses;
[ReadOnly] public NativeArray<float> invRotationalMasses;
[ReadOnly] public NativeArray<float4> invInertiaTensors;
[ReadOnly] public NativeArray<float4> principalRadii;
[NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
[NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
@@ -298,7 +309,7 @@ namespace Obi
particleRT[3][3] = 0;
Rpq += math.mul(particleR,
math.mul(math.rcp(invInertiaTensors[k] + new float4(BurstMath.epsilon)).asDiagonal(),
math.mul(BurstMath.GetParticleInertiaTensor(principalRadii[k], invRotationalMasses[k]).asDiagonal(),
math.transpose(particleRT))
);
@@ -327,7 +338,7 @@ namespace Obi
linearTransforms[i] = math.mul(Apq_def, Aqq[i]);
// extract rotation from transform matrix, using warmstarting and few iterations:
constraintOrientations[i] = BurstMath.ExtractRotation(Apq_def, constraintOrientations[i], 2);
constraintOrientations[i] = BurstMath.ExtractRotation(Apq_def, constraintOrientations[i], 5);
// finally, obtain rotation matrix:
float4x4 R = constraintOrientations[i].toMatrix();
@@ -400,9 +411,10 @@ namespace Obi
ref deformation,
ref numIndices,
ref invMasses,
ref invRotationalMasses,
ref restPositions,
ref restOrientations,
ref invInertiaTensors);
ref principalRadii);
}
}
@@ -418,9 +430,10 @@ namespace Obi
ref deformation,
ref numIndices,
ref invMasses,
ref invRotationalMasses,
ref restPositions,
ref restOrientations,
ref invInertiaTensors);
ref principalRadii);
}
}
}