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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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20
Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs
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@@ -67,17 +67,29 @@ namespace Obi
int optimizationIterations,
float optimizationTolerance)
{
var co = new BurstQueryResult() { simplexIndex = simplexIndex, queryIndex = shapeIndex };
var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
var colliderPoint = BurstLocalOptimization.Optimize<BurstBoxQuery>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
float4 simplexPrevPosition = float4.zero;
float simplexRadius = 0;
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
simplexPrevPosition += positions[particleIndex] * simplexBary[j];
simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
}
co.queryPoint = colliderPoint.point;
co.normal = colliderPoint.normal;
co.simplexBary = simplexBary;
co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
results.Enqueue(co);
if (co.distance <= shape.maxDistance)
results.Enqueue(co);
}
}

31
Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs
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@@ -1,6 +1,7 @@
#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
using Unity.Collections;
using Unity.Mathematics;
using UnityEngine;
namespace Obi
{
@@ -17,7 +18,7 @@ namespace Obi
// express ray in simplex space (ellipsoid == scaled sphere)
float4 rayOrigin = math.mul(colliderToSimplex, new float4(shape.center.xyz,1));
float4 rayDirection = math.normalizesafe(math.mul(colliderToSimplex, new float4((shape.size - shape.center).xyz,0)));
float4 rayDirection = math.normalizesafe(math.mul(colliderToSimplex, new float4(shape.size.xyz,0)));
float rayDistance = ObiUtils.RaySphereIntersection(rayOrigin.xyz, rayDirection.xyz, float3.zero, 1);
@@ -25,7 +26,7 @@ namespace Obi
{
point = colliderToSolver.InverseTransformPointUnscaled(point);
float4 centerLine = BurstMath.NearestPointOnEdge(shape.center * colliderToSolver.scale, shape.size * colliderToSolver.scale, point, out float mu);
float4 centerLine = BurstMath.NearestPointOnEdge(shape.center * colliderToSolver.scale, (shape.center + shape.size) * colliderToSolver.scale, point, out float mu);
float4 centerToPoint = point - centerLine;
float distanceToCenter = math.length(centerToPoint);
@@ -57,17 +58,33 @@ namespace Obi
int optimizationIterations,
float optimizationTolerance)
{
var co = new BurstQueryResult() { simplexIndex = simplexIndex, queryIndex = shapeIndex };
var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
var colliderPoint = BurstLocalOptimization.Optimize<BurstRay>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
co.queryPoint = colliderPoint.point;
float4 simplexPrevPosition = float4.zero;
float simplexRadius = 0;
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
simplexPrevPosition += positions[particleIndex] * simplexBary[j];
simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
}
co.queryPoint = colliderPoint.point;
co.normal = colliderPoint.normal;
co.simplexBary = simplexBary;
co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
results.Enqueue(co);
if (co.distance <= shape.maxDistance)
{
float4 pointOnRay = colliderPoint.point + colliderPoint.normal * co.distance;
co.distanceAlongRay = math.dot(pointOnRay.xyz - shape.center.xyz, math.normalizesafe(shape.size.xyz));
results.Enqueue(co);
}
}
}

20
Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs
View File

@@ -39,17 +39,29 @@ namespace Obi
int optimizationIterations,
float optimizationTolerance)
{
var co = new BurstQueryResult() { simplexIndex = simplexIndex, queryIndex = shapeIndex };
var co = new BurstQueryResult { simplexIndex = simplexIndex, queryIndex = shapeIndex };
float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
var colliderPoint = BurstLocalOptimization.Optimize<BurstSphereQuery>(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
var colliderPoint = BurstLocalOptimization.Optimize(ref this, positions, orientations, radii, simplices, simplexStart, simplexSize,
ref simplexBary, out float4 convexPoint, optimizationIterations, optimizationTolerance);
float4 simplexPrevPosition = float4.zero;
float simplexRadius = 0;
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
simplexPrevPosition += positions[particleIndex] * simplexBary[j];
simplexRadius += BurstMath.EllipsoidRadius(colliderPoint.normal, orientations[particleIndex], radii[particleIndex].xyz) * simplexBary[j];
}
co.queryPoint = colliderPoint.point;
co.normal = colliderPoint.normal;
co.simplexBary = simplexBary;
co.distance = math.dot(simplexPrevPosition - colliderPoint.point, colliderPoint.normal) - simplexRadius;
results.Enqueue(co);
if (co.distance <= shape.maxDistance)
results.Enqueue(co);
}
}

47
Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
View File

@@ -54,7 +54,7 @@ namespace Obi
{
var cell = grid.usedCells[c];
// calculate thickedned grid bounds:
// calculate thickened grid bounds:
float size = NativeMultilevelGrid<int>.CellSizeOfLevel(cell.Coords.w);
float4 cellPos = (float4)cell.Coords * size;
BurstAabb cellBounds = new BurstAabb(cellPos - new float4(size), cellPos + new float4(2 * size));
@@ -85,7 +85,7 @@ namespace Obi
private BurstAabb CalculateShapeAABB(in BurstQueryShape shape)
{
float offset = shape.contactOffset + shape.distance;
float offset = shape.contactOffset + shape.maxDistance;
switch (shape.type)
{
case QueryShape.QueryType.Sphere:
@@ -93,7 +93,7 @@ namespace Obi
case QueryShape.QueryType.Box:
return new BurstAabb(shape.center - shape.size*0.5f - offset, shape.center + shape.size * 0.5f + offset);
case QueryShape.QueryType.Ray:
return new BurstAabb(shape.center, shape.size, offset);
return new BurstAabb(shape.center, shape.center + shape.size, offset);
}
return new BurstAabb();
}
@@ -108,57 +108,22 @@ namespace Obi
switch (shape.type)
{
case QueryShape.QueryType.Sphere:
BurstSphereQuery sphereShape = new BurstSphereQuery() { colliderToSolver = shapeToSolver, shape = shape};
BurstSphereQuery sphereShape = new BurstSphereQuery { colliderToSolver = shapeToSolver, shape = shape};
sphereShape.Query(shapeIndex, positions, orientations, radii, simplices,
simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
case QueryShape.QueryType.Box:
BurstBoxQuery boxShape = new BurstBoxQuery() { colliderToSolver = shapeToSolver, shape = shape};
BurstBoxQuery boxShape = new BurstBoxQuery { colliderToSolver = shapeToSolver, shape = shape};
boxShape.Query(shapeIndex, positions, orientations, radii, simplices,
simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
case QueryShape.QueryType.Ray:
BurstRay rayShape = new BurstRay() { colliderToSolver = shapeToSolver, shape = shape };
BurstRay rayShape = new BurstRay { colliderToSolver = shapeToSolver, shape = shape };
rayShape.Query(shapeIndex, positions, orientations, radii, simplices,
simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
break;
}
}
}
[BurstCompile]
public struct CalculateQueryDistances : IJobParallelFor
{
[ReadOnly] public NativeArray<float4> prevPositions;
[ReadOnly] public NativeArray<quaternion> prevOrientations;
[ReadOnly] public NativeArray<float4> radii;
// simplex arrays:
[ReadOnly] public NativeArray<int> simplices;
[ReadOnly] public SimplexCounts simplexCounts;
public NativeArray<BurstQueryResult> queryResults;
public void Execute(int i)
{
var result = queryResults[i];
int simplexStart = simplexCounts.GetSimplexStartAndSize(result.simplexIndex, out int simplexSize);
float4 simplexPrevPosition = float4.zero;
float simplexRadius = 0;
for (int j = 0; j < simplexSize; ++j)
{
int particleIndex = simplices[simplexStart + j];
simplexPrevPosition += prevPositions[particleIndex] * result.simplexBary[j];
simplexRadius += BurstMath.EllipsoidRadius(result.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * result.simplexBary[j];
}
// update contact distance
result.distance = math.dot(simplexPrevPosition - result.queryPoint, result.normal) - simplexRadius;
queryResults[i] = result;
}
}
}
#endif