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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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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);
}
}
}