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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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11
Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs
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@@ -33,7 +33,7 @@ namespace Obi
m_ConstraintCount = count;
}
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)
{
var projectConstraints = new StretchShearConstraintsBatchJob()
{
@@ -126,8 +126,8 @@ namespace Obi
// subtract third director vector (0,0,1):
gamma[2] -= 1;
float3 W = new float3((w1 + w2) / (restLengths[i] + BurstMath.epsilon) + invRotationalMasses[q] * 4.0f * restLengths[i] + BurstMath.epsilon);
float3 dlambda = (gamma - compliances * lambdas[i]) / (compliances + W);
float3 W = new float3((w1 + w2) / (restLengths[i] + BurstMath.epsilon) + invRotationalMasses[q] * 4.0f * restLengths[i]);
float3 dlambda = (gamma - compliances * lambdas[i]) / (W + compliances + BurstMath.epsilon);
lambdas[i] += dlambda;
// convert lambda delta lambda back to world space:
@@ -142,7 +142,10 @@ namespace Obi
// calculate rotation delta:
quaternion rotDelta = math.mul(new quaternion(dlambda[0], dlambda[1], dlambda[2], 0.0f),q_e_3_bar);
rotDelta.value *= 2.0f * invRotationalMasses[q] * restLengths[i];
orientationDeltas[q] = rotDelta;
quaternion orDelta = orientationDeltas[q];
orDelta.value += rotDelta.value;
orientationDeltas[q] = orDelta;
counts[p1]++;
counts[p2]++;