升级obi

2026-01-22 22:08:21 +08:00
parent 120b8cda26
commit 20f14322bc
1067 changed files with 149894 additions and 29583 deletions
--- a/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs
+++ b/Assets/Obi/Scripts/Common/DataStructures/ContactEffectiveMasses.cs
@@ -0,0 +1,93 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+#endif
+
+namespace Obi
+{
+    public struct ContactEffectiveMasses
+    {
+        public float normalInvMassA;
+        public float tangentInvMassA;
+        public float bitangentInvMassA;
+
+        public float normalInvMassB;
+        public float tangentInvMassB;
+        public float bitangentInvMassB;
+
+        public float TotalNormalInvMass => normalInvMassA + normalInvMassB;
+        public float TotalTangentInvMass => tangentInvMassA + tangentInvMassB;
+        public float TotalBitangentInvMass => bitangentInvMassA + bitangentInvMassB;
+
+        public void ClearContactMassesA()
+        {
+            normalInvMassA = tangentInvMassA = bitangentInvMassA = 0;
+        }
+
+        public void ClearContactMassesB()
+        {
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = 0;
+        }
+
+        #if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+        public void CalculateContactMassesA(float invMass,
+                                            float4 inverseInertiaTensor,
+                                            float4 position,
+                                            quaternion orientation,
+                                            float4 contactPoint,
+                                            float4 normal,
+                                            float4 tangent,
+                                            float4 bitangent,
+                                            bool rollingContacts)
+        {
+            // initialize inverse linear masses:
+            normalInvMassA = tangentInvMassA = bitangentInvMassA = invMass;
+
+            if (rollingContacts)
+            {
+                float4 rA = contactPoint - position;
+                float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+                normalInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, normal);
+                tangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, tangent);
+                bitangentInvMassA += BurstMath.RotationalInvMass(solverInertiaA, rA, bitangent);
+            }
+        }
+
+        public void CalculateContactMassesB(float invMass,
+                                            float4 inverseInertiaTensor,
+                                            float4 position,
+                                            quaternion orientation,
+                                            float4 contactPoint,
+                                            float4 normal,
+                                            float4 tangent,
+                                            float4 bitangent,
+                                            bool rollingContacts)
+        {
+            // initialize inverse linear masses:
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = invMass;
+
+            if (rollingContacts)
+            {
+                float4 rB = contactPoint - position;
+                float4x4 solverInertiaB = BurstMath.TransformInertiaTensor(inverseInertiaTensor, orientation);
+
+                normalInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, normal);
+                tangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, tangent);
+                bitangentInvMassB += BurstMath.RotationalInvMass(solverInertiaB, rB, bitangent);
+            }
+        }
+
+
+        public void CalculateContactMassesB(in BurstRigidbody rigidbody, in BurstAffineTransform solver2World, float4 pointB, float4 normal, float4 tangent, float4 bitangent)
+        {
+            float4 rB = solver2World.TransformPoint(pointB) - rigidbody.com;
+
+            // initialize inverse linear masses:
+            normalInvMassB = tangentInvMassB = bitangentInvMassB = rigidbody.inverseMass;
+            normalInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, normal);
+            tangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, tangent);
+            bitangentInvMassB += BurstMath.RotationalInvMass(rigidbody.inverseInertiaTensor, rB, bitangent);
+        }
+        #endif
+    }
+}