添加插件

2025-11-10 00:08:26 +08:00
parent 4059c207c0
commit 76f80db694
2814 changed files with 436400 additions and 178 deletions
--- a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
@@ -0,0 +1,129 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+
+    [BurstCompile]
+    unsafe struct SpatialQueryJob : IJobParallelFor
+    {
+        //collider grid:
+        [ReadOnly] public NativeMultilevelGrid<int> grid;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float4> radii;
+        [ReadOnly] public NativeArray<int> filters;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // query arrays:
+        [ReadOnly] public NativeArray<BurstQueryShape> shapes;
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+
+        // output contacts queue:
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstQueryResult>.ParallelWriter results;
+
+        // auxiliar data:
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        // execute for each query shape:
+        public void Execute(int i)
+        {
+            var shapeToSolver = worldToSolver * transforms[i];
+
+            // calculate solver-space aabb of query shape:
+            BurstAabb queryBoundsSS = CalculateShapeAABB(shapes[i]).Transformed(shapeToSolver);
+
+            var shapeCategory = shapes[i].filter & ObiUtils.FilterCategoryBitmask;
+            var shapeMask = (shapes[i].filter & ObiUtils.FilterMaskBitmask) >> 16;
+
+            bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
+
+            // iterate over all occupied cells:
+            for (int c = 0; c < grid.usedCells.Length; ++c)
+            {
+                var cell = grid.usedCells[c];
+
+                // 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));
+
+                // if cell and query bounds intersect:
+                if (cellBounds.IntersectsAabb(in queryBoundsSS, is2D))
+                {
+                    // iterate over cell contents:
+                    for (int k = 0; k < cell.Length; ++k)
+                    {
+                        int simplexStart = simplexCounts.GetSimplexStartAndSize(cell[k], out int simplexSize);
+
+                        // check if any simplex particle and the query shape should collide:
+                        bool shouldCollide = false;
+                        for (int j = 0; j < simplexSize; ++j)
+                        {
+                            var simplexCategory = filters[simplices[simplexStart + j]] & ObiUtils.FilterCategoryBitmask;
+                            var simplexMask = (filters[simplices[simplexStart + j]] & ObiUtils.FilterMaskBitmask) >> 16;
+                            shouldCollide |= (simplexCategory & shapeMask) != 0 && (simplexMask & shapeCategory) != 0;
+                        }
+
+                        if (shouldCollide)
+                            Query(shapes[i], shapeToSolver, i, cell[k], simplexStart, simplexSize);
+                    }
+                }
+            }
+        }
+
+        private BurstAabb CalculateShapeAABB(in BurstQueryShape shape)
+        {
+            float offset = shape.contactOffset + shape.maxDistance;
+            switch (shape.type)
+            {
+                case QueryShape.QueryType.Sphere:
+                    return new BurstAabb(shape.center, shape.center, shape.size.x + offset);
+                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.center + shape.size, offset);
+            }
+            return new BurstAabb();
+        }
+
+        private void Query(in BurstQueryShape shape,
+                           in BurstAffineTransform shapeToSolver,
+                           int shapeIndex,
+                           int simplexIndex,
+                           int simplexStart,
+                           int simplexSize)
+        {
+            switch (shape.type)
+            {
+                case QueryShape.QueryType.Sphere:
+                    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};
+                    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 };
+                    rayShape.Query(shapeIndex, positions, orientations, radii, simplices,
+                                      simplexIndex, simplexStart, simplexSize, results, parameters.surfaceCollisionIterations, parameters.surfaceCollisionTolerance);
+                    break;
+            }
+        }
+    }
+}
+#endif