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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);
}
}